CN114063518B - Valve position calibration method, device, system and storage medium - Google Patents
Valve position calibration method, device, system and storage medium Download PDFInfo
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- CN114063518B CN114063518B CN202111356728.4A CN202111356728A CN114063518B CN 114063518 B CN114063518 B CN 114063518B CN 202111356728 A CN202111356728 A CN 202111356728A CN 114063518 B CN114063518 B CN 114063518B
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- 238000012790 confirmation Methods 0.000 claims description 22
- 238000006243 chemical reaction Methods 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 2
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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
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The embodiment of the invention provides a valve position calibration method, a device, a system and a storage medium, relating to the field of valve positioner control, wherein the method comprises the following steps: after starting the stroke calibration, acquiring a rotation angle value acquired by the angle sensor when the valve rod moves to a stroke middle point as a middle rotation angle value; the intelligent valve positioner is controlled to perform air intake until the valve rod does not move any more, and the position of the valve rod which does not move any more in the air intake state is determined to be the top end of the stroke; acquiring a rotation angle value acquired by an angle sensor when the valve rod is at the top of the stroke as a top rotation angle value; exhausting by controlling the intelligent valve positioner until the valve rod does not move any more, and determining the position of the valve rod which does not move any more in an exhaust state as the stroke bottom end; acquiring a rotation angle value acquired by an angle sensor when the valve rod is at the bottom of a stroke as a bottom rotation angle value; and if the rotation angle values of the middle, the top and the bottom are obtained, determining that the stroke calibration is completed. By adopting the invention, the control precision of the valve can be increased.
Description
Technical Field
The invention relates to the field of valve positioner control, in particular to a valve position calibration method, a device, a system and a storage medium.
Background
In industrial development, the valve positioner can assist the regulating valve to realize flow control, and plays an important role. When the valve positioner controls the straight stroke actuating mechanism, the regulating valve cannot be regulated to a preset position according to the requirement due to the nonlinear relation between the stroke of the valve rod and the rotation angle of the connecting rod.
The existing valve position calibration method greatly depends on the experience of a user, and certain field installation requirements exist, such as the requirement that the valve rod is perpendicular to the connecting rod when the valve rod is positioned at the middle position.
If the condition of the field installation does not meet the requirement or the user judges the error, the correction has a large error and has a certain limitation.
Disclosure of Invention
The invention aims to provide a valve position calibration method, device, system and storage medium, which can obtain an accurate valve position through calibration and realize a simpler installation process.
In a first aspect, the present invention provides a valve position calibration method, using a valve position calibration system, the valve position calibration system comprising: intelligent valve locator, straight journey actuating mechanism and governing valve, intelligent valve locator includes: the intelligent valve positioner is in pneumatic connection with the straight-travel executing mechanism through the electrical conversion unit, the connecting rod and the rotating shaft are connecting pieces between the intelligent valve positioner and the straight-travel executing mechanism, a valve rod in the straight-travel executing mechanism is directly connected with the regulating valve and is in sliding connection with one end of the connecting rod, the other end of the connecting rod is fixedly connected with the rotating shaft, and the angle sensor is further arranged on the rotating shaft; the method comprises the following steps:
after starting the stroke calibration, acquiring a rotation angle value acquired by the angle sensor when the valve rod moves to a stroke middle point as a middle rotation angle value;
the intelligent valve positioner is controlled to perform air intake until the valve rod does not move any more, and the position where the valve rod does not move any more in the air intake state is determined to be the top end of the stroke;
acquiring a rotation angle value acquired by the angle sensor when the valve rod is positioned at the top end of the stroke as a top end rotation angle value;
exhausting by controlling the intelligent valve positioner until the valve rod does not move any more, determining the position of the valve rod which does not move any more in an exhausting state as the stroke bottom end;
acquiring a rotation angle value acquired by the angle sensor when the valve rod is at the bottom end of the stroke as a bottom rotation angle value;
and if the middle rotation angle value, the top rotation angle value and the bottom rotation angle value are obtained, determining that the stroke calibration is completed.
Optionally, the determining that the stroke calibration is completed includes:
determining whether the stroke intermediate point is within a preset intermediate range;
and if the stroke middle point is in the preset middle range, determining that the stroke calibration is completed.
Optionally, the method further comprises:
and restarting the stroke calibration if the stroke middle point is not in the preset middle range.
Optionally, before the rotation angle value acquired by the angle sensor when the valve rod moves to the stroke middle point is the middle rotation angle value, the method further includes:
displaying confirmation prompt information of the valve rod moving to the stroke middle point;
the obtaining the rotation angle value acquired by the angle sensor when the valve rod moves to the stroke middle point is the middle rotation angle value comprises the following steps:
and responding to the confirmation message input aiming at the confirmation prompt message, and acquiring the rotation angle value acquired by the angle sensor when the valve rod moves to the stroke middle point as the middle rotation angle value.
Optionally, the controlling the intelligent valve positioner to perform air intake includes:
controlling the intelligent valve positioner to perform air intake by adopting a preset air intake program;
the exhaust is performed by controlling the intelligent valve positioner, comprising:
and controlling the intelligent valve positioner to exhaust by adopting a preset exhaust program.
Optionally, the controlling the intelligent valve positioner to perform air intake includes:
controlling the intelligent valve positioner to perform air intake according to the input air intake operation;
the exhaust is performed by controlling the intelligent valve positioner, comprising:
and controlling the intelligent valve positioner to exhaust according to the input exhaust operation.
Optionally, the method further comprises:
calculating a first included angle between a first connecting line and a second included angle between the first connecting line and a third connecting line according to the middle corner value, the top corner value and the bottom corner value; the first connecting line is a connecting line of the rotating shaft and the stroke middle point, the second connecting line is a connecting line of the rotating shaft and the stroke bottom end, and the third connecting line is a connecting line of the rotating shaft and the stroke top end;
and obtaining the corresponding relation between the real-time rotation angle value and the real-time travel position of the angle sensor according to the first included angle and the second included angle.
In a second aspect, an embodiment of the present invention further provides a valve position calibration device, applying a valve position calibration system, where the valve position calibration system includes: intelligent valve locator, straight journey actuating mechanism and governing valve, intelligent valve locator includes: the intelligent valve positioner is in pneumatic connection with the straight-travel executing mechanism through the electrical conversion unit, the connecting rod and the rotating shaft are connecting pieces between the intelligent valve positioner and the straight-travel executing mechanism, a valve rod in the straight-travel executing mechanism is directly connected with the regulating valve and is in sliding connection with one end of the connecting rod, the other end of the connecting rod is fixedly connected with the rotating shaft, and the angle sensor is further arranged on the rotating shaft; the device comprises:
the first acquisition module is used for acquiring a rotation angle value acquired by the angle sensor when the valve rod moves to a stroke middle point as a middle rotation angle value after starting stroke calibration;
the air inlet control module is used for controlling the intelligent valve positioner to perform air inlet until the valve rod does not move any more, and determining the position of the valve rod which does not move any more in the air inlet state as the stroke top;
the second acquisition module is used for acquiring a rotation angle value acquired by the angle sensor when the valve rod is positioned at the top end of the stroke as a top end rotation angle value;
the exhaust control module is used for exhausting through controlling the intelligent valve positioner until the valve rod does not move any more, and determining the position of the valve rod which does not move any more in an exhaust state as the stroke bottom end;
the third acquisition module is used for acquiring a rotation angle value acquired by the angle sensor when the valve rod is at the bottom end of the stroke as a bottom rotation angle value;
and the determining module is used for determining that the stroke calibration is completed if the intermediate rotation angle value, the top rotation angle value and the bottom rotation angle value are acquired.
In a third aspect, embodiments of the present invention further provide a valve position calibration system, including: intelligent valve locator, straight journey actuating mechanism and governing valve, intelligent valve locator includes: the intelligent valve positioner is in pneumatic connection with the straight-travel executing mechanism through the electrical conversion unit, the connecting rod and the rotating shaft are connecting pieces between the intelligent valve positioner and the straight-travel executing mechanism, a valve rod in the straight-travel executing mechanism is directly connected with the regulating valve and is in sliding connection with one end of the connecting rod, the other end of the connecting rod is fixedly connected with the rotating shaft, and the angle sensor is further arranged on the rotating shaft;
the control unit is adapted to perform the steps of the method of valve position calibration of any of the first aspects described above.
In a fourth aspect, embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of valve position calibration of any of the first aspects described above.
Compared with the prior art, the valve position calibration method, device and system and the storage medium provided by the invention have the advantages that the intermediate rotation angle value when the valve rod moves to the intermediate point can be obtained through the angle sensor, then the intelligent valve positioner is controlled to perform air inlet and air exhaust until the valve rod does not move any more, the top end position and the bottom end position of the valve rod stroke are determined, and further the rotation angle value when the valve rod moves to the top end position and the bottom end position is obtained through the angle sensor, so that the calibration work of the valve rod stroke is completed. Therefore, the method can obtain the relation between the rotation angle position of the connecting rod and the valve rod travel by means of the angle sensor, is convenient for solving the problem that the valve position feedback has nonlinearity under the straight travel actuating mechanism, simplifies the installation requirement of the regulating valve when the regulating valve is used on site, ensures that the control of the regulating valve is more accurate, and reduces the control error of the regulating valve.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a valve position calibration system according to the present invention;
FIG. 2 is a schematic diagram of valve position feedback in a valve position calibration system according to the present invention;
FIG. 3 is a schematic flow chart of a valve position calibration method according to the present invention;
FIG. 4 is a flow chart of another valve position calibration method according to the present invention;
FIG. 5 is a flow chart of another valve position calibration method according to the present invention;
FIG. 6 is a schematic diagram of an automatic intake and exhaust flow chart of a valve position calibration method according to the present invention;
FIG. 7 is a schematic diagram of a manual air intake and exhaust flow chart of a valve position calibration method provided by the invention;
FIG. 8 is a schematic illustration of a method for non-linear correction of valve stem travel and connecting rod angle in a straight travel actuator according to the present invention;
FIG. 9 is a plan view of the valve stem, connecting rod and shaft in a valve position calibration method according to the present invention;
FIG. 10 is a schematic diagram of a valve position calibration device according to the present invention.
Icon: an intelligent valve positioner 110; a control unit 111; an electric conversion unit 112; an angle sensor 113; a display unit 114; a straight stroke actuator 120; a regulating valve 130; a valve stem 121; a link 122; a rotation shaft 123; a first acquisition module 1000; an intake control module 2100; a second acquisition module 2200; an exhaust control module 2300; a third acquisition module 2400; a determination module 3000.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Before explaining the present invention in detail, an application scenario of the present invention will be described.
The valve position calibration method can be suitable for a valve positioner of the straight stroke executing mechanism, is used for calibrating the stroke of a valve rod in the straight stroke executing mechanism, can obtain the corresponding relation between the real-time rotation angle value and the real-time stroke position of the angle sensor based on the stroke calibration result, realizes the nonlinear correction of the position relation between the straight stroke position and the rotation angle, and can simulate the straight stroke executing mechanism based on the stroke calibration result. The valve position calibration method provided by the embodiments of the invention can be executed by a control unit in an intelligent valve positioner in a valve position calibration system.
Before describing the valve calibration method provided by the embodiment of the invention, a valve position calibration system applied by the valve calibration method is explained with reference to the attached drawings. FIG. 1 is a schematic diagram of a valve position calibration system according to the present invention, as shown in FIG. 1, the valve position calibration system includes: intelligent valve positioner 110, straight travel actuator 120, and regulator valve 130, intelligent valve positioner 110 includes: the control unit 111, an electrical conversion unit 112 and an angle sensor 113 connected with the control unit 111, and the intelligent valve positioner 110 is pneumatically connected with the straight stroke actuator 120.
For clarity in describing the connection of the straight travel actuator 120 and the regulator valve 130, the mechanical structure of the straight travel actuator is explained below with reference to the accompanying drawings. FIG. 2 is a schematic diagram of valve position feedback in a valve position calibration system according to the present invention. The connecting rod 122 and the rotating shaft 123 are connecting pieces between the intelligent valve positioner 110 and the straight stroke executing mechanism 120, the valve rod 121 in the straight stroke executing mechanism 120 is directly connected with the regulating valve 130 and is in sliding connection with one end of the connecting rod 122, the other end of the connecting rod 122 is fixedly connected with the rotating shaft 123, and the angle sensor 113 is further arranged on the rotating shaft 123.
Specifically, the control unit 111 in the intelligent valve positioner 110 may send an electrical signal to the electrical conversion unit 112, and the electrical conversion unit 112 converts the electrical signal into a pneumatic signal, and the pneumatic signal controls the linear travel actuator 120. The straight travel actuator 120 realizes the straight movement of the valve rod 121 under the action of pneumatic signals, so as to drive the valve core on the regulating valve 130 to act to realize the opening adjustment of the regulating valve 130. In this embodiment, the regulator valve 130 may be a single seat valve, a double seat valve, or the like, which is not limited in the present invention. In actual operation, in order to accurately control the opening of the regulating valve 130, the valve rod 121, the connecting rod 122, and the rotating shaft 115 have strict requirements on rigidity, and they need to be selected according to the actual application environment, which is not limited by the present invention. In one possible implementation, the intelligent valve positioner 110 may further include a display unit 114, the display unit 114 being connectable with the control unit 111. The valve position calibration program may be integrated in the control unit 111, and by running the valve position calibration program, the control unit 111 may display a control interface corresponding to the valve position calibration program on the display unit 114. On this control interface, for example, may include: selection or determination controls during valve calibration, such as an "intake" control, an "exhaust" control, and a "confirm current point as a middle point" control.
In the present embodiment, the angle sensor 113 is further disposed on the rotating shaft 123, so as to transmit the rotation angle value of the rotating shaft 123 acquired by the angle sensor 113 to the control unit 111. In an application example, the angle sensor 113 may be an analog sensor, where the angle sensor 113 is connected to the control unit 111 through an AD module, and the angle sensor 113 may perform analog-to-digital conversion on the collected voltage signal through an external AD (analog-to-Digital Conversion) module, which is also called an AD chip, to obtain an AD code value, and then transmit the AD code value back to the control unit 111. In another application example, the angle sensor 113 may be an analog sensor, where the angle sensor 113 is connected to an AD end of the control unit 111, and the control unit 111 uses an internal AD module to perform AD conversion on a voltage signal acquired by the angle sensor 113 to obtain an AD code value. In yet another example, the angle sensor 113 may be a digitizing sensor, which may be directly connected to the control unit 111 to transmit the acquired digital rotation angle value to the control unit 111. The AD code value obtained after AD conversion is calculated to obtain the rotation angle value.
The AD conversion process of the voltage signal is explained in connection with an example as follows. For example, if the rotation angle of the angle sensor 113 is 320+±3° and the resolution of the AD conversion is 12 bits, the angle value corresponding to each code value after AD conversion of the voltage signal is 320 °/2 12 = 0.078125 °. If the AD code values obtained by the control unit are 512, the rotation angle value of the current rotation shaft is 0.078125×512=40°.
The control unit may include, for example: MCU (Micro Control Unit ), the inside AD module that includes of MCU promptly utilizes the inside AD module of MCU to sample the conversion. The method for calibrating each valve provided by the embodiment of the invention can be realized by the valve position calibration program operated by the control unit 111. The valve position calibration method provided by the embodiment of the invention is exemplified in the following way with reference to the accompanying drawings. FIG. 3 is a schematic flow chart of a valve position calibration method according to the present invention. As shown in fig. 3, a valve position calibration method may include:
and S200, after the stroke calibration is started, acquiring a rotation angle value acquired by the angle sensor when the valve rod moves to a stroke middle point as a middle rotation angle value.
In this embodiment, the valve stem 121 may be manually moved to the mid-stroke point by the user prior to activating the row Cheng Jiaozhun. The straight travel actuator 120 has a travel indicator bar to indicate the movement position of the valve stem, by which a user can confirm whether to move to the intermediate point of travel. After the user confirms that the travel center point has been moved, the bottom end and the top end can be measured by means of a dial indicator, an infrared range finder or a digital range finder, and the like, so that the travel center point is precisely the average value of the two points.
And S310, air is fed through controlling the intelligent valve positioner until the valve rod is not moved any more, and the position where the valve rod is not moved any more in the air feeding state is determined to be the stroke top end.
In the present embodiment, the intake air amount of the intelligent valve positioner 110 may be controlled by the control unit 111 to complete the intake air, so that the air pressure of the intake air pushes the valve stem 121 to move upward until the valve stem 121 is no longer moved upward, determining the current position as the stroke top.
S320, acquiring a rotation angle value acquired by the angle sensor when the valve rod is at the top end of the stroke as a top end rotation angle value.
In this embodiment, when the valve rod 121 is no longer moved upward to be positioned at the top of the stroke, the rotation angle value of the rotation shaft 123 at the current position may be acquired as the top rotation angle value by the angle sensor 113.
And S330, exhausting by controlling the intelligent valve positioner until the valve rod is no longer moved, and determining the position where the valve rod is no longer moved in an exhausting state as the stroke bottom end.
In this embodiment, the amount of exhaust gas from the intelligent valve positioner 110 may be controlled by the control unit 111 to complete the exhaust gas such that the gas pressure of the exhaust gas pushes the valve stem 121 downward until the valve stem 121 no longer moves downward to determine the current position as the bottom of stroke.
S340, acquiring a bottom end rotation angle value which is acquired by the angle sensor when the valve rod is at the bottom end of stroke.
In this embodiment, when the valve rod 121 is no longer moved downward to be at the bottom of the stroke, the rotation angle value of the rotation shaft 123 at the current position may be collected as the bottom rotation angle value by the angle sensor 113.
When the valve rod is determined to be no longer moving, the judgment can be made according to whether the rotation angle value in the preset time is no longer changed or is smaller than a certain value. Because the moving speed of the regulating valves with different types or different stroke sizes is respectively high and low, different judging time values can be set according to the regulating valves with different types or different stroke sizes.
For example, the control unit 111 in the intelligent valve positioner 110 performs the valve stem position detection once every 20ms, and the condition for determining whether the small valve with the stroke less than 60mm reaches the top end or the bottom end may be that the change of the rotation angle value within 2 seconds continuously accords with the preset value, and for the large valve with the stroke greater than 60mm, the determination time may be amplified to 5 seconds because the movement is slower, so that the change of the rotation angle value accords with the preset value.
And S400, if the middle rotation angle value, the top rotation angle value and the bottom rotation angle value are obtained, determining that the stroke calibration is completed.
After the rotation angle values of the stroke intermediate point, the stroke top end, and the stroke bottom end of the valve rod 121 are obtained by the angle sensor 113, the stroke calibration is completed.
According to the embodiment, the angle sensor can acquire the middle corner value when the valve rod moves to the middle point, then the intelligent valve positioner is controlled to perform air inlet and air exhaust until the valve rod does not move any more, so that the top end and the bottom end of the valve rod stroke are determined, and the angle value when the valve rod moves to the top end and the bottom end is acquired by the angle sensor, so that the calibration work of the valve rod stroke is completed. Therefore, the method can obtain the relation between the rotation angle position of the connecting rod and the valve rod travel by means of the angle sensor, so that the problem that nonlinearity exists between the lower valve rod travel position of the straight travel executing mechanism and the rotation angle of the connecting rod is solved, the installation requirement of the regulating valve in field use is simplified, the control of the regulating valve is more accurate, and the control error of the regulating valve is reduced.
Further, the embodiment of the present invention further provides another possible implementation manner of the valve position calibration method for the implementation manner of the valve position calibration method provided in fig. 3. FIG. 4 is a flow chart of another valve position calibration method according to the present invention. As shown in fig. 4, determining that the stroke calibration is completed in S400 may include:
s410, determining whether the stroke middle point is in a preset middle measuring range.
In this embodiment, during the stroke calibration process, a certain rationality limit may be performed on the position range of the middle point according to the bottom end and the top end of the valve rod 121, for example, the range of 25% -75% of the stroke range is required, the specific range value is not limited in the present invention, and the adjustment may be performed according to the specific measurement requirement. Further, since the range of the rotation angle of the angle sensor 113 is limited, the stroke range of the regulator valve 130 also needs to satisfy the measurement angle range of the angle sensor 113.
S420, if the stroke middle point is in the preset middle measuring range, determining that the stroke calibration is completed.
S430, restarting the stroke calibration if the stroke middle point is not in the preset middle range.
In this embodiment, if it is determined that the stroke intermediate point is not within the preset intermediate range according to the preset stroke range, the actions described in S200 to S410 are re-executed until it is determined that the stroke intermediate point is within the preset intermediate range.
Therefore, by verifying that the stroke intermediate point is not in the preset intermediate range after the current stroke calibration, the stroke calibration result is judged, and the stroke error caused by insufficient experience or improper installation of a user is avoided, so that the position judgment of the valve position is more accurate.
Further, the embodiment of the present invention provides another possible implementation of the valve position calibration method for the implementation of the valve position calibration method provided in fig. 3. FIG. 5 is a flow chart of another implementation of a valve position calibration method according to an embodiment of the present invention. As shown in fig. 5, before the rotation angle value acquired by the angle sensor when the valve rod moves to the stroke middle point is the middle rotation angle value in S200, the method further includes:
s210, displaying confirmation prompt information of the valve rod moving to the stroke middle point.
In the present embodiment, "confirm the current point as the intermediate point" may be displayed, thereby performing a confirmation of whether or not the current point is the intermediate point. For example, the control unit 111 may control the display unit 114 to display confirmation prompt information; in another example, the control unit 111 may control other devices connected thereto, such as an external display device, to display confirmation prompt information, which is not limited in the embodiment of the present application.
The step S200 of obtaining the rotation angle value acquired by the angle sensor when the valve rod moves to the stroke middle point as the middle rotation angle value includes:
s220, responding to the confirmation message aiming at determining prompt information input, and acquiring the rotation angle value acquired by the angle sensor when the valve rod moves to the stroke middle point as a middle rotation angle value.
When the confirmation information input by the user is received in the case of displaying the confirmation information, the angle sensor 113 converts the rotation angle of the rotating shaft 123 at the current intermediate stroke point into the intermediate rotation angle value. In a possible application example, a key may be provided on the housing of the intelligent valve positioner 110, and the user may input the confirmation information through the key. In other examples, the display device of the intelligent valve positioner 110 may be a touch display device through which a user may input confirmation information. In yet another example, the intelligent valve positioner 110 may be externally connected to a display device through which a user may remotely input confirmation information.
Therefore, in this embodiment, the user is reminded to judge the position of the intermediate point again by letting the user confirm the displayed travel intermediate point prompt information, so that errors are avoided from the source, and the reliability of the calibration method is improved.
Further, the embodiment of the invention provides a possible implementation manner of the valve position calibration method for automatically performing air intake and exhaust based on a program aiming at the implementation manner of the valve position calibration method provided by the figure 3. Fig. 6 is a schematic diagram of an automatic air intake and exhaust flow chart of a valve position calibration method provided by the invention. As shown in fig. 6, the step S310 of controlling the intelligent valve positioner to perform air intake includes:
s310a, controlling the intelligent valve positioner to perform air intake by adopting a preset air intake program.
In this embodiment, the "intake" in the valve position calibration routine preset integrated in the control unit 111 may be set for automatic intake control so that the valve stem 121 moves upward.
The step S330 of exhausting the air by controlling the intelligent valve positioner includes:
s330a, adopting a preset exhaust program to control the intelligent valve positioner to perform exhaust.
In this embodiment, the "bleed" in the preset integrated valve position calibration routine in the control unit 111 may be set for automatic bleed control such that the valve stem 121 moves downward.
Therefore, in this embodiment, the air inlet and exhaust control of the intelligent valve positioner can be performed through the preset control program of "air inlet" and "air exhaust", so that the corresponding operation can be performed more quickly and accurately, and the air inlet and exhaust amounts of different regulating valves can be conveniently adjusted by the user according to actual requirements.
Further, the embodiment of the invention provides a possible implementation manner of the valve position calibration method for performing air intake and exhaust based on manual operation of a user aiming at the implementation manner of the valve position calibration method provided in fig. 3. Fig. 7 is a schematic diagram of a manual air intake and exhaust flow chart of a valve position calibration method provided by the invention. As shown in fig. 7, the step S310 of controlling the intelligent valve positioner to perform air intake includes:
and S310b, controlling the intelligent valve positioner to perform air intake according to the input air intake operation.
In this embodiment, the user may manually input an intake operation according to the selection of the "intake" control in the display unit 114 to control the intelligent valve positioner to perform intake. In other examples, the user may manually adjust the amount of intake air from intelligent valve positioner 110 to perform the intake.
The step S330 of exhausting the air by controlling the intelligent valve positioner includes:
and S330b, controlling the intelligent valve positioner to exhaust according to the input exhaust operation.
In this embodiment, the user may manually input the venting operation according to the selection of the "venting" control in the display unit 114 to control the intelligent valve positioner to vent. In other examples, a user may manually adjust the amount of air that the intelligent valve positioner 110 is vented.
In this embodiment, the user can utilize manual air intake and exhaust to control the intelligent valve positioner in real time, so that the degree of freedom of controlling the intelligent valve positioner is increased, and the control can be adjusted timely according to actual conditions.
Further, the embodiment of the present invention provides a possible implementation manner of performing nonlinear correction on the valve rod stroke and the connecting rod rotation angle in the straight stroke executing mechanism according to the implementation manner of the valve position calibration method provided in fig. 3. FIG. 8 is a schematic illustration of a method for non-linear correction of valve stem travel and connecting rod angle in a straight travel actuator according to the present invention. As shown in fig. 8, after determining that the stroke calibration is completed in S400, the method further includes:
s510, calculating a first included angle between the first connecting line and the second connecting line and a second included angle between the first connecting line and the third connecting line according to the middle rotating angle value, the top rotating angle value and the bottom rotating angle value; the first connecting line is a connecting line of the rotating shaft and the stroke middle point, the second connecting line is a connecting line of the rotating shaft and the stroke bottom end, and the third connecting line is a connecting line of the rotating shaft and the stroke top end.
S520, according to the first included angle and the second included angle, the corresponding relation between the real-time rotation angle value and the real-time travel position of the angle sensor is obtained.
In particular, in order to more clearly describe the valve position nonlinear correction method, a plan relation diagram of a valve rod, a connecting rod and a rotating shaft in the method can be explained with reference to the attached drawings. FIG. 9 is a plan view of a valve rod, a connecting rod and a rotating shaft in a valve position calibration method according to the present invention, wherein the bottom end of the valve rod is A, the top end of the valve rod is B, the rotating shaft is C, the middle point of the valve rod is D, the current position of the valve rod is E, the height from the top end to the bottom end of the valve rod is H, the real-time stroke displacement value of the valve rod is H, the real-time rotation angle value of the connecting rod is ACE=θ, and the first included angle isThe second included angle is->
Let +.cda=a in Δacd,
then there are:
in Δbcd, there are:
from equation (1), then there is:
let +.cea=β in ACE,
then there are: h/sin θ=ac/sin β equation (4)
In the case of the deltabce,
the method comprises the following steps:
from the formula (5),
then there are:
the relation between the valve rod real-time travel displacement value h and the connecting rod real-time rotation angle value theta is obtained through arrangement:
therefore, in this embodiment, the middle angle value, the top angle value and the bottom angle value are obtained through stroke calibration, the first angle and the second angle are calculated, and the stroke percentage of the valve rod at the moment can be obtained by combining the real-time angle value of the connecting rod, so that the corresponding valve rod stroke position and the connecting rod angle value are obtained, and nonlinear correction is achieved. The non-linear relation between the valve rod stroke position and the connecting rod rotation angle value in the original straight stroke executing mechanism is solved, accurate flow control is conveniently realized, and the valve position stroke is calibrated.
The following describes a valve position calibration device and a valve position calibration system provided by the present invention, and specific implementation processes and technical effects thereof are referred to above, and are not described in detail below.
FIG. 10 is a schematic diagram of a valve position calibration device according to the present invention, using a valve position calibration system comprising: intelligent valve locator, straight journey actuating mechanism and governing valve, intelligent valve locator includes: the intelligent valve positioner is pneumatically connected with the straight-travel executing mechanism, the connecting rod is a connecting piece between the intelligent valve positioner and the straight-travel executing mechanism, a valve rod in the straight-travel executing mechanism is directly connected with the regulating valve and is in sliding connection with one end of the connecting rod, the other end of the connecting rod is fixedly connected with the intelligent valve positioner through a rotating shaft, and an angle sensor is further arranged on the rotating shaft and is positioned in the control unit; as shown in fig. 10, the valve position calibration device includes:
the first obtaining module 1000 is configured to obtain, after starting the stroke calibration, that a rotation angle value collected by the angle sensor when the valve rod moves to a stroke intermediate point is an intermediate rotation angle value;
the air inlet control module 2100 is used for carrying out air inlet by controlling the intelligent valve positioner until the valve rod does not move any more, and determining the position where the valve rod does not move any more in the air inlet state as the stroke top;
the second obtaining module 2200 is used for obtaining the rotation angle value collected by the angle sensor when the valve rod is at the top of the stroke as the top rotation angle value;
the exhaust control module 2300 is configured to perform exhaust by controlling the intelligent valve positioner until the valve rod is no longer moved, and determine a position where the valve rod is no longer moved in an exhaust state as a bottom of stroke;
the third acquisition module 2400 is configured to acquire a bottom rotation angle value as a rotation angle value acquired by the angle sensor when the valve rod is at the bottom of the stroke;
the determining module 3000 is configured to determine that the stroke calibration is completed if the intermediate rotation angle value, the top rotation angle value, and the bottom rotation angle value are obtained.
Optionally, the determining module 3000 is specifically configured to determine whether the stroke intermediate point is within a preset intermediate range; and if the stroke middle point is in the preset middle measuring range, determining that the stroke calibration is finished.
Optionally, the first obtaining module 1000 is specifically configured to display a confirmation prompt message that the valve stem moves to the middle point of the stroke; and responding to the confirmation message input aiming at the confirmation prompt message, and acquiring the rotation angle value acquired by the angle sensor when the valve rod moves to the stroke middle point as the middle rotation angle value.
Optionally, the air intake control module 2100 is specifically configured to control the intelligent valve positioner to perform air intake by using a preset air intake program.
Optionally, the air intake control module 2100 is specifically further configured to control the intelligent valve positioner to perform air intake according to an input air intake operation.
Optionally, the exhaust control module 2300 is specifically configured to control the intelligent valve positioner to exhaust by using a preset exhaust program.
Optionally, the exhaust control module 2300 is further specifically configured to control the intelligent valve positioner to perform exhaust according to the input exhaust operation.
Optionally, the determining module 3000 is further specifically configured to restart the stroke calibration if the stroke intermediate point is not within the preset intermediate range.
The above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more digital signal processors (digital singnal processor, abbreviated as DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), etc. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Optionally, the present invention also provides a program product, such as a computer readable storage medium, comprising a program for performing the above-described method embodiments when being executed by a processor.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods according to the embodiments of the invention. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A valve position calibration method, wherein a valve position calibration system is applied, the valve position calibration system comprising: intelligent valve locator, straight journey actuating mechanism and governing valve, intelligent valve locator includes: the intelligent valve positioner is in pneumatic connection with the straight-travel executing mechanism through the electrical conversion unit, the connecting rod and the rotating shaft are connecting pieces between the intelligent valve positioner and the straight-travel executing mechanism, a valve rod in the straight-travel executing mechanism is directly connected with the regulating valve and is in sliding connection with one end of the connecting rod, the other end of the connecting rod is fixedly connected with the rotating shaft, and the angle sensor is further arranged on the rotating shaft; the method comprises the following steps:
after starting the stroke calibration, acquiring a rotation angle value acquired by the angle sensor when the valve rod moves to a stroke middle point as a middle rotation angle value;
the intelligent valve positioner is controlled to perform air intake until the valve rod does not move any more, and the position where the valve rod does not move any more in the air intake state is determined to be the top end of the stroke;
acquiring a rotation angle value acquired by the angle sensor when the valve rod is positioned at the top end of the stroke as a top end rotation angle value;
exhausting by controlling the intelligent valve positioner until the valve rod does not move any more, determining the position of the valve rod which does not move any more in an exhausting state as the stroke bottom end;
acquiring a rotation angle value acquired by the angle sensor when the valve rod is at the bottom end of the stroke as a bottom rotation angle value;
if the middle rotation angle value, the top rotation angle value and the bottom rotation angle value are obtained, determining that stroke calibration is completed;
before the rotation angle value acquired by the angle sensor when the valve rod moves to the stroke middle point is acquired to be the middle rotation angle value, the method further comprises the following steps:
displaying confirmation prompt information of the valve rod moving to the stroke middle point;
the obtaining the rotation angle value acquired by the angle sensor when the valve rod moves to the stroke middle point is the middle rotation angle value comprises the following steps:
and responding to the confirmation message input aiming at the confirmation prompt message, and acquiring the rotation angle value acquired by the angle sensor when the valve rod moves to the stroke middle point as the middle rotation angle value.
2. The method of claim 1, wherein determining that the stroke calibration is complete comprises:
determining whether the stroke intermediate point is within a preset intermediate range;
and if the stroke middle point is in the preset middle range, determining that the stroke calibration is completed.
3. The method according to claim 2, wherein the method further comprises:
and restarting the stroke calibration if the stroke middle point is not in the preset middle range.
4. The method of claim 1, wherein said entering air by controlling said intelligent valve positioner comprises:
controlling the intelligent valve positioner to perform air intake by adopting a preset air intake program;
the exhaust is performed by controlling the intelligent valve positioner, comprising:
and controlling the intelligent valve positioner to exhaust by adopting a preset exhaust program.
5. The method of claim 1, wherein said entering air by controlling said intelligent valve positioner comprises:
controlling the intelligent valve positioner to perform air intake according to the input air intake operation;
the exhaust is performed by controlling the intelligent valve positioner, comprising:
and controlling the intelligent valve positioner to exhaust according to the input exhaust operation.
6. The method according to claim 1, wherein the method further comprises:
calculating a first included angle between a first connecting line and a second included angle between the first connecting line and a third connecting line according to the middle corner value, the top corner value and the bottom corner value; the first connecting line is a connecting line of the rotating shaft and the stroke middle point, the second connecting line is a connecting line of the rotating shaft and the stroke bottom end, and the third connecting line is a connecting line of the rotating shaft and the stroke top end;
and obtaining the corresponding relation between the real-time rotation angle value and the real-time travel position of the angle sensor according to the first included angle and the second included angle.
7. A valve position calibration device, wherein a valve position calibration system is applied, the valve position calibration system comprising: intelligent valve locator, straight journey actuating mechanism and governing valve, intelligent valve locator includes: the intelligent valve positioner is in pneumatic connection with the straight-travel executing mechanism through the electrical conversion unit, the connecting rod and the rotating shaft are connecting pieces between the intelligent valve positioner and the straight-travel executing mechanism, a valve rod in the straight-travel executing mechanism is directly connected with the regulating valve and is in sliding connection with one end of the connecting rod, the other end of the connecting rod is fixedly connected with the rotating shaft, and the angle sensor is further arranged on the rotating shaft; the device comprises:
the first acquisition module is used for acquiring a rotation angle value acquired by the angle sensor when the valve rod moves to a stroke middle point as a middle rotation angle value after starting stroke calibration;
the air inlet control module is used for controlling the intelligent valve positioner to perform air inlet until the valve rod does not move any more, and determining the position of the valve rod which does not move any more in the air inlet state as the stroke top;
the second acquisition module is used for acquiring a rotation angle value acquired by the angle sensor when the valve rod is positioned at the top end of the stroke as a top end rotation angle value;
the exhaust control module is used for exhausting through controlling the intelligent valve positioner until the valve rod does not move any more, and determining the position of the valve rod which does not move any more in an exhaust state as the stroke bottom end;
the third acquisition module is used for acquiring a rotation angle value acquired by the angle sensor when the valve rod is at the bottom end of the stroke as a bottom rotation angle value;
the determining module is used for determining that the stroke calibration is completed if the middle rotation angle value, the top rotation angle value and the bottom rotation angle value are obtained;
the first acquisition module is specifically used for displaying confirmation prompt information of the valve rod moving to the stroke middle point; and responding to the confirmation message input aiming at the confirmation prompt message, and acquiring the rotation angle value acquired by the angle sensor when the valve rod moves to the stroke middle point as the middle rotation angle value.
8. A valve position calibration system, the valve position calibration system comprising: intelligent valve locator, straight journey actuating mechanism and governing valve, intelligent valve locator includes: the intelligent valve positioner is in pneumatic connection with the straight-travel executing mechanism through the electrical conversion unit, the connecting rod and the rotating shaft are connecting pieces between the intelligent valve positioner and the straight-travel executing mechanism, a valve rod in the straight-travel executing mechanism is directly connected with the regulating valve and is in sliding connection with one end of the connecting rod, the other end of the connecting rod is fixedly connected with the rotating shaft, and the angle sensor is further arranged on the rotating shaft;
the control unit is adapted to perform a method of valve position calibration according to any of the preceding claims 1 to 6.
9. A computer readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of a valve position calibration method according to any of claims 1 to 6.
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