CN115933463A - Numerical control valve control system with closed-loop feedback control - Google Patents

Numerical control valve control system with closed-loop feedback control Download PDF

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CN115933463A
CN115933463A CN202211476176.5A CN202211476176A CN115933463A CN 115933463 A CN115933463 A CN 115933463A CN 202211476176 A CN202211476176 A CN 202211476176A CN 115933463 A CN115933463 A CN 115933463A
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control
controller
valve
feedback
pipeline valve
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李云
郭彪
李运鹏
张桂凯
巫泉文
陈世勋
高克勤
许飞
唐涛
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Institute of Materials of CAEP
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Abstract

The invention discloses a numerical control valve control system of closed loop feedback control, which relates to the field of numerical control valve control and comprises: the system comprises a central controller, a base layer controller, a man-machine interaction module and a feedback execution module; the central controller is respectively connected with the base layer controller and the man-machine interaction module; the feedback execution module is respectively connected with the base layer controller and the central controller; the human-computer interaction module is used for inputting a control target value of the pipeline valve; the central controller is used for receiving the control target value of the human-computer interaction module and the feedback data of the pipeline valve acquired by the feedback execution module, and calculating the control quantity of the pipeline valve by adopting a feedback control algorithm according to the control target value and the feedback data; a base layer controller for applying a control quantity to the pipeline valve; and the feedback execution module is used for detecting the state of the pipeline valve in real time to obtain feedback data. The invention can realize the accurate control of the pipeline valve, thereby realizing the accurate control of the pipeline valve on the flow and the flow speed of a pipeline system.

Description

Numerical control valve control system with closed-loop feedback control
Technical Field
The invention relates to the field of numerical control valve control, in particular to a numerical control valve control system for closed-loop feedback control.
Background
The valve pipeline system on the market generally adopts simple on-off control to valve control in the current valve pipeline system, and control accuracy is low, is difficult to realize the integrated control of high accuracy, to some application scenarios that require higher to control flow or rate control, also only increases flow quality controller in pipeline system and realizes, whole control system seems non-uniform, and can't realize to the higher application scenario of valve rotational position or moment requirement.
In the prior art, such as the embodiment with publication number "CN 107035904A" and the name "double-acting pneumatic actuator driven automatic valve system capable of providing double protection", it mainly relates to a valve system driven by a double-acting pneumatic actuator and capable of providing double protection and automatically opening or closing when the pressure exceeds a set value, mainly aims at the opening and closing problem of the automatic valve, and does not relate to the problem of precise control of the flow and flow rate of the pipeline system based on the valve.
Disclosure of Invention
Based on this, the embodiment of the invention provides a closed-loop feedback controlled numerical control valve control system to realize accurate control of a pipeline valve, so as to realize accurate control of the pipeline valve on the flow and the flow rate of a pipeline system.
In order to achieve the purpose, the invention provides the following scheme:
a closed-loop feedback controlled digitally controlled valve control system comprising: the system comprises a central controller, a base layer controller, a man-machine interaction module and a feedback execution module;
the central controller is respectively connected with the base layer controller and the human-computer interaction module; the feedback execution module is respectively connected with the base layer controller and the central controller;
the human-computer interaction module is used for:
inputting a control target value of a pipeline valve; the control target value includes: at least one of a desired rotational position, a desired rotational speed, and a maximum current threshold in a desired rotation;
the central controller is configured to:
receiving a control target value of the human-computer interaction module and feedback data of the pipeline valve, which is acquired by the feedback execution module;
calculating the control quantity of the pipeline valve by adopting a feedback control algorithm according to the control target value and the feedback data;
wherein the feedback data comprises: at least one of an actual rotational position, an actual rotational speed, and a current in actual rotation; the control amount includes: at least one of a force position control amount, a speed control amount, and a moment control amount;
the base layer controller is configured to:
applying the control quantity to the line valve;
the feedback execution module is configured to:
and detecting the state of the pipeline valve in real time to obtain the feedback data.
Optionally, the central controller comprises: the system comprises a data receiving module and a multi-mode control module;
the data receiving module is configured to:
if the current control mode is a force-position mixed control mode, receiving an expected rotation position and an expected rotation speed sent by the man-machine interaction module and an actual rotation position and an actual rotation speed of the pipeline valve acquired by the feedback execution module;
if the current control mode is the servo position control mode, receiving an expected rotation position, an expected rotation speed and a maximum current threshold value in expected rotation sent by the man-machine interaction module, and the actual rotation position, the actual rotation speed and the current in actual rotation of the pipeline valve, which are acquired by the feedback execution module;
if the current control mode is the servo speed control mode, receiving the expected rotating speed sent by the man-machine interaction module and the actual rotating speed of the pipeline valve acquired by the feedback execution module;
if the current control mode is the servo torque control mode, receiving an expected rotation position, an expected rotation speed and a maximum current threshold value in expected rotation sent by the man-machine interaction module, and the actual rotation position, the actual rotation speed and the current in actual rotation of the pipeline valve, which are acquired by the feedback execution module;
the multi-mode control module is internally provided with a PD controller and a PI controller and is used for:
if the current control mode is a force position mixed control mode, inputting the expected rotation position, the expected rotation speed, the actual rotation position and the actual rotation speed into the PD controller, and applying a force position control quantity to the pipeline valve by the PD controller;
if the current control mode is a servo position control mode, inputting the expected rotation position, the expected rotation speed, the actual rotation position and the actual rotation speed into a PD controller, inputting the output quantity of the PD controller, the maximum current threshold value in the expected rotation and the current in the actual rotation into the PI controller, and applying a position control quantity to the pipeline valve by the PI controller through a first PI control algorithm;
if the current control mode is a servo speed control mode, inputting the expected rotation speed and the actual rotation speed into the PD controller, and applying a speed control quantity to the pipeline valve by the PD controller;
and if the current control mode is a servo torque control mode, inputting the expected rotation position, the expected rotation speed, the actual rotation position and the actual rotation speed into a PD controller, inputting the output quantity of the PD controller, the maximum current threshold value in the expected rotation and the current in the actual rotation into a PI controller, and applying a torque control quantity to the pipeline valve by the PI controller through a second PI control algorithm.
Optionally, the closed-loop feedback-controlled numerical control valve control system further includes: an external data measuring device;
the external data measuring device is respectively connected with the central controller and the base layer controller;
the external data measuring device is used for acquiring environmental data of the environment where the pipeline valve is located and transmitting the environmental data to the man-machine interaction module through the central controller;
wherein the environment data comprises: temperature, humidity, pressure and vacuum degree;
the human-computer interaction module is used for displaying the environment data; the control target value of the pipeline valve is determined according to the environmental data.
Optionally, the human-computer interaction module is further configured to:
inputting a set maximum torque value, a set maximum current and a set rotation speed of a pipeline valve;
the central controller is further configured to:
and when the expected rotation position exceeds the set maximum torque value, the expected rotation speed exceeds the set rotation speed amount, or the maximum current threshold value in the expected rotation exceeds the set maximum current, controlling the pipeline valve to stop running.
Optionally, the closed-loop feedback-controlled digital control valve control system further includes: a limit sensor; the limit sensor is arranged at the rotation limit position of the pipeline valve.
Optionally, the closed-loop feedback-controlled digital control valve control system further includes: a servo controller and a servo motor;
the base layer controller is connected with the servo controller; the servo controller is connected with the pipeline valve through the servo motor; the feedback execution module is connected with the pipeline valve through the servo motor.
Optionally, the central controller is connected to the human-computer interaction module through a network bus.
Optionally, the base layer controller is connected to the servo controller through a CAN bus.
Compared with the prior art, the invention has the beneficial effects that:
the embodiment of the invention provides a closed-loop feedback control numerical control valve control system, which comprises: the system comprises a central controller, a base layer controller, a man-machine interaction module and a feedback execution module; the central controller is respectively connected with the base layer controller and the man-machine interaction module; the feedback execution module is respectively connected with the base layer controller and the central controller, and the central controller obtains at least one of force position control quantity, speed control quantity and moment control quantity according to the control target value and the feedback data of the pipeline valve collected by the feedback execution module, so that the pipeline valve is accurately controlled, and the application scene with higher requirements on flow or speed in a pipeline system is accurately controlled.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a structural diagram of a closed-loop feedback-controlled numerical control valve control system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a closed-loop feedback controlled NC valve control system according to an embodiment of the present invention;
FIG. 3 is a block diagram of an actuator provided by an embodiment of the present invention;
FIG. 4 is a control block diagram of a force-level mixing control mode according to an embodiment of the present invention;
FIG. 5 is a control block diagram of a servo position control scheme according to an embodiment of the present invention;
fig. 6 is a block diagram of a piping system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to control the high-precision control and regulation of valves of gas and liquid in a pipeline system, such as flow, flow rate, pressure and the like.
The invention provides a numerical control valve control system capable of having multi-mode closed-loop feedback control aiming at the valve control problem in a pipeline system. The numerical control valve control assembly obtained by the invention has the characteristics of small volume, automatic control of valve opening and closing, controllable and adjustable modes of valve rotating torque, position and the like, controllable and adjustable flow and flow velocity in a pipeline, high control precision by adopting servo control as an execution part and the like, and is particularly suitable for high-precision control and adjustment of valves of gas and liquid flow, flow velocity, pressure and the like in a pipeline system.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
Fig. 1 is a structural diagram of a closed-loop feedback-controlled numerical control valve control system according to an embodiment of the present invention. Referring to fig. 1, the system comprises: the system comprises a central controller, a base layer controller, a man-machine interaction module and a feedback execution module.
The central controller is respectively connected with the base layer controller and the human-computer interaction module; the feedback execution module is respectively connected with the base layer controller and the central controller.
The human-computer interaction module is used for: inputting a control target value of a pipeline valve; the control target value includes: at least one of a desired rotational position, a desired rotational speed, and a maximum current threshold in a desired rotation.
The central controller is used as a main controller of the valve control system and is mainly used for feeding back data processing, calculating to obtain control quantity and sending the control quantity to the base layer controller. Specifically, the central controller is configured to: receiving a control target value of the human-computer interaction module and feedback data of the pipeline valve, which is acquired by the feedback execution module; and calculating the control quantity of the pipeline valve by adopting a feedback control algorithm according to the control target value and the feedback data. The feedback control algorithm may be a PI/PD control algorithm.
Wherein the feedback data comprises: at least one of an actual rotational position, an actual rotational speed, and a current in the actual rotation; the control amount includes: at least one of a force position control amount, a speed control amount, and a torque control amount. The human-computer interface (operation interface) on the human-computer interaction module can display system control state, control quantity, initial value input (target value) and the like.
The base layer controller takes the control quantity of the central controller as input, and accurately controls the pipeline valve serving as an actuator based on the control quantity. Thus, the base layer controller is configured to: applying the control quantity to the line valve.
The feedback execution module is configured to: and detecting the state of the pipeline valve in real time to obtain the feedback data. The feedback execution module comprises an actuator and a feedback part; the pipeline valve can be used as an actuator; the feedback part can be a feedback sensor arranged at the tail end of the pipeline valve so as to detect and manage the opening precision of the valve and obtain feedback data.
The central controller has control modes such as automatic execution, manual execution and the like, comprises a force-position mixed control mode, a servo position control mode, a servo speed control mode and a servo torque (current) control mode under an automatic execution program, and selects a proper control mode according to requirements to realize pipeline valve control. The control program can also realize the functions of pausing, adopting absolute coordinates and incremental coordinates to control the position of the valve and the like.
The man-machine interaction module is connected with the central controller through a network bus, can transmit the current data of the system to the man-machine interface for display, and can perform automatic and manual mode selection on the man-machine interface.
In one example, in the automatic control mode, under a feedback control algorithm of the central controller, a control quantity output by the central controller at present is calculated according to an error between feedback data (an actual value) of a feedback part and a control target value of a pipeline valve of the human-computer interaction module, and after receiving the control quantity of the central controller, the base layer controller automatically realizes a multi-valve independent or linkage function.
In the manual control mode, an operator inputs the rotating position or the rotating torque of each valve of the system through a human-computer interface, and the valves are manually inching and controlled to be opened and closed.
Specifically, the central controller includes: the device comprises a data receiving module and a multi-mode control module.
The data receiving module is mainly used for reading feedback data and taking the feedback data as the input of the multi-mode control module. The data receiving module is also provided with a communication interface with the man-machine interaction module, and the central controller is in information interaction with the man-machine interaction module through the communication port and can also be in communication connection with an external network.
Specifically, the data receiving module is configured to:
and if the current control mode is a force-position mixed control mode, receiving the expected rotation position and the expected rotation speed sent by the man-machine interaction module and the actual rotation position and the actual rotation speed of the pipeline valve acquired by the feedback execution module.
And if the current control mode is the servo position control mode, receiving the expected rotation position, the expected rotation speed and the maximum current threshold value in the expected rotation sent by the man-machine interaction module, and the actual rotation position, the actual rotation speed and the current in the actual rotation of the pipeline valve acquired by the feedback execution module.
And if the current control mode is the servo speed control mode, receiving the expected rotating speed sent by the man-machine interaction module and the actual rotating speed of the pipeline valve acquired by the feedback execution module.
And if the current control mode is a servo torque (current) control mode, receiving the expected rotation position, the expected rotation speed and the maximum current threshold value in the expected rotation sent by the man-machine interaction module, and the actual rotation position, the actual rotation speed and the current in the actual rotation of the pipeline valve acquired by the feedback execution module.
The multi-mode control module is specifically provided with a built-in PD controller and a built-in PI controller, and is used for:
1) And if the current control mode is a force-position mixed control mode, inputting the expected rotation position, the expected rotation speed, the actual rotation position and the actual rotation speed into the PD controller, and applying a force-position control quantity to the pipeline valve by the PD controller.
2) And if the current control mode is a servo position control mode, inputting the expected rotation position, the expected rotation speed, the actual rotation position and the actual rotation speed into a PD controller, inputting the output quantity of the PD controller, the maximum current threshold value in the expected rotation and the current in the actual rotation into the PI controller, and applying a position control quantity to the pipeline valve by the PI controller through a first PI control algorithm.
3) And if the current control mode is a servo speed control mode, inputting the expected rotation speed and the actual rotation speed into the PD controller, and applying a speed control quantity to the pipeline valve by the PD controller.
4) And if the current control mode is a servo torque control mode, inputting the expected rotation position, the expected rotation speed, the actual rotation position and the actual rotation speed into a PD controller, inputting the output quantity of the PD controller, the maximum current threshold value in the expected rotation and the current in the actual rotation into the PI controller, and applying a torque control quantity to the pipeline valve by the PI controller through a second PI control algorithm.
In another example, the closed-loop feedback controlled, digitally controlled valve control system further comprises: an external data measuring device.
The external data measuring device is respectively connected with the central controller and the base layer controller; the external data measuring device is used for acquiring environmental data of the environment where the pipeline valve is located and transmitting the environmental data to the man-machine interaction module through the central controller; wherein the environment data comprises: temperature, humidity, pressure and vacuum.
Under a feedback control algorithm, the control quantity output by the central controller automatically adjusts the valve opening and closing quantity or the rotation position of each pipeline valve in real time according to an initial value (or a target value) set by a pipeline process, external data (pressure, vacuum degree and the like) and the like. Specifically, the central controller automatically adjusts the rotation opening and the position of the valve in real time according to an initial value set by a pipeline system process and external data, and automatically controls the pressure rate or the flow of the pipeline system based on the matching relationship between the rotation opening and the position of the valve.
The base layer controller takes the control quantity of the central controller as input, accurately controls the actuator based on the control quantity (for example, the base layer controller acts on the servo controller to automatically control the opening and closing size of a pipeline valve so as to enable the pipeline system to complete the pressure rate or flow required by the process), plays a role of 'holding up and down' between the actuator and the central controller, and comprises functions of controlling data receiving, decoding and sending; meanwhile, an I/O signal instruction of the central controller can be decoded, the on-off control of the system peripheral equipment is carried out, the start-stop control of temperature, humidity, pressure, vacuum and the like is realized, and the current state quantity (current environment data) is fed back and input to the central controller.
The human-computer interaction module is used for displaying the environment data; the control target value of the pipeline valve is determined according to the environmental data.
In another example, referring to fig. 2, the closed-loop feedback controlled digitally controlled valve control system further comprises: servo controller and servo motor. The structures in the dashed box of fig. 2 are mechanically connected to each other.
The base layer controller is connected with the servo controller; the servo controller is connected with the pipeline valve through the servo motor; the feedback execution module is connected with the pipeline valve through the servo motor. In this example, the servo controller, the servo motor and the pipeline valve constitute an actuator, as shown in fig. 3, the servo motor 1 is mechanically connected to the main body of the pipeline valve 2, the servo controller is connected to the servo motor through a cable, and the feedback sensor is installed at the end of the servo motor 1.
The actuator can also consist of a plurality of groups of servo controllers, a plurality of groups of servo motors and a plurality of groups of pipeline valves; the number of shafts of the actuator CAN be increased in series/parallel connection according to the requirements of a pipeline system, the servo controller is connected with the base layer controller on the basis of a CAN bus, and control data are transmitted to the multi-shaft servo controller (consisting of a plurality of servo controllers) so as to directly control the rotation of the servo motor in the actuator component.
The central controller is connected with the man-machine interaction module through a network bus.
The base layer controller is connected with the servo controller through a CAN bus. The base layer controller is a lower-level controller of the central controller, receives the control quantity of the central controller, is connected with the actuator through the CAN bus, controls the rotation torque/position/speed and the like of the pipeline valve, and transmits feedback data (valve real-time rotation data) to the central controller in real time through the feedback sensor.
A feedback part in the feedback execution module is mechanically connected and installed with an actuator, the rotation position angle of the valve is directly detected, the opening degree of the valve is detected, and the flow rate of the system is accurately adjusted.
In yet another example, the human-machine interaction module can set initial values such as overload protection, limit protection, current (torque) adjustment, valve rotation speed and the like, or set target values of the valve system, and send the initial values to the central controller.
Specifically, the human-computer interaction module is further configured to: inputting the set maximum torque value, the set maximum current and the set rotation speed of the pipeline valve.
The central controller is further configured to: and when the expected rotation position exceeds the set maximum torque value, the expected rotation speed exceeds the set rotation speed amount, or the maximum current threshold value in the expected rotation exceeds the set maximum current, controlling the pipeline valve to stop running.
Wherein, closed loop feedback control's numerical control valve control system still includes: a limit sensor; the limit sensor is arranged at the rotation limit position of the pipeline valve.
In this example, the central controller has protection functions such as overload protection, limit protection, current (torque) adjustment, and valve rotational speed setting.
In the embodiment, the combined programming operation of any valve can be realized according to different requirements of a pipeline system, a process and the like, and the combination of all the valves is flexible and variable; the control system can accurately realize torque control when the valve is closed/opened through a current mode; the control system can accurately realize position control when the valve is closed/opened through the position mode.
According to the numerical control valve control system with closed-loop feedback control, the whole system supports multi-valve linkage control, and the pressure, the speed, the flow and the like of a pipeline system are adjusted to realize multi-valve automatic linkage control based on preset process system and external data and other setting valve closing torque, opening position and other rotation quantities. The numerical control valve control assembly obtained in the embodiment has the characteristics of small size, automatic control of valve opening and closing, controllable and adjustable modes of valve rotating torque, position and the like, controllable and adjustable flow and flow speed in a pipeline, high control precision by adopting servo control as an execution part and the like, and is particularly suitable for high-precision automatic control and adjustment of valves of gas and liquid flow, flow speed, pressure and the like in a pipeline system.
Several embodiments are given below to further describe the above-mentioned numerical control valve control system with closed-loop feedback control in detail.
Specific example 1:
in the multi-mode closed-loop feedback-controlled numerical control valve control system of the embodiment, the central controller is a main control part of the numerical control valve control system and mainly consists of a data receiving module and a multi-mode control module; the multi-mode control module mainly provides a precise control algorithm for the valve, and the data receiving module receives and decodes feedback quantity of the system, and the feedback quantity is used as control algorithm input. The PI/PD control algorithm of the multi-mode control module compares feedback data acquired by a feedback sensor as input with a valve control target value, and sends control quantity obtained by algorithm calculation to a base layer controller through a CAN bus; the data receiving module receives and reads feedback data, the feedback data is used as input of the multi-mode control module, meanwhile, the data receiving module is provided with a communication interface with the human-computer interface, and the central controller interacts with the human-computer interface information through the communication port and can also be in communication connection with an external network.
In the numerical control valve control system, a human-computer interface is used for displaying control quantity and state data information of the control system in real time and is connected with a central controller, the central controller transmits data to the human-computer interface for display, and an operator outputs an initial value or a control value on the interface; in this embodiment, the human-computer interface is a touch screen display that can be operated by touch, can display, and is connected to the central controller based on a network bus protocol.
The base layer controller is the sub-control of the numerical control valve control system, is connected in series between the actuator and the central controller, and comprises the functions of controlling data receiving, decoding, sending and the like. The CAN bus is connected with a servo controller, the valve rotation torque/position/speed and the like are directly controlled according to the control quantity obtained by decoding, and the valve real-time rotation data is transmitted back to the central controller through the feedback part. The base layer controller can directly act on each servo controller to control the valve to realize the independent or linkage function of multiple valves; the valve rotation 'opening and closing amount' and the position are adjusted according to the control initial value (human-computer interface setting) set by the pipeline system process, external data (pressure, vacuum degree and the like) and the like.
The feedback part is mechanically connected with the actuator part, the feedback sensor is installed at the rear end of the motor, the motor is connected with the valve through the coupler, and therefore the sensor can directly detect the rotation position angle and the rotation speed of the valve, the detection of the opening and closing amount of the valve is achieved, and the flow rate of the system is accurately adjusted.
The present embodiment describes a force-position mixed control mode, a servo position control mode, and a servo speed control mode in a digital control valve control system based on the above system control relationship.
(1) In the embodiment of the force-level mixed control mode, the human-machine interface firstly selects the force-level mixed control mode, and at this time, the called control algorithm in the control module of the central controller is the PD control algorithm, which is shown in fig. 4. As shown in FIG. 4, in the force/position blending mode embodiment, the target value P (desired rotation position pos _ desired, desired rotation speed spd _ desired) of the human interaction module and the actual value P of the feedback part are input 0 (the actual rotation position pos _ current and the actual rotation speed spd _ current) and the force position control quantity motor _ current1 are obtained through the PD controller, and are finally output to the servo motor, as shown in the following formula:
motor_current1＝
KP*(pos_desired-pos_current)+
KD*(spd_desired-spd_current)+Torque/K T
wherein KP is feedback compensation gain; KD is a damping coefficient, KP and KD can be based on the system debugging process to determine suitable values; k T Is the motor torque constant; torque is motor Torque.
(2) As shown in fig. 5, in the embodiment of the servo position control mode, the human-machine interface firstly selects the servo position control mode, and the called control algorithm in the control module of the central controller is PI/PD dual closed-loop control, see fig. 5. In this mode, the main inputs are the actual rotational position and the actual rotational speed of the feedback section; the outer ring is a position ring control,actually a PD controller; the inner loop is a current loop which is mainly a PI controller, the input of the PI controller is the output quantity of the PD controller and the current in the actual rotation, and the parameters in the PD controller and the PI controller cannot be changed by a user. In this servo position control mode, three input desired parameters are required in the human-machine interface, namely the desired rotation position pos _ desired, the desired rotation speed spd _ desired and the maximum current threshold I in the desired rotation max Namely, the motor control valve operates from the current position P0 to the expected rotation position pos _ desired; in the process from P0 to pos _ desired, the maximum current of the motor is I max Maximum torque = I max * Motor torque constant K T If the encountered load exceeds the torque, the motor stalls. In the servo position control mode, a position control quantity motor _ current2 is obtained through a PD controller and a PI controller and is finally output to a servo motor. The PI controller obtains a position control quantity motor _ current2 by adopting a first PI control algorithm based on an output quantity motor _ current of the PD controller, and the formula is as follows:
Figure BDA0003960080140000121
wherein, motor _ current represents the output quantity of the PD controller, i.e. the current value I c (ii) a motor _ current2 (t + 1) represents a position control amount at time t + 1; motor _ current2 (t) represents a position control quantity at time t, and is essentially a current I in actual rotation at time t m ，I m ≤I max (ii) a And KI is an integration time constant. The calculation formula of motor _ current is as follows:
Figure BDA0003960080140000131
(3) In the implementation mode of the servo speed control mode, the man-machine interface selects the servo speed control mode, and the control algorithm called in the control module of the central controller is a PD controller. In this embodiment, the actual rotation speed spd _ current of the feedback portion is input, the desired rotation speed spd _ desired is input in the human-computer interface, the speed control amount motor _ current3 is obtained through PI control, and the current is finally output to the servo motor, and this mode control mode is consistent with the force-level mixed control mode, which is expressed by the following formula: .
Figure BDA0003960080140000132
(4) In the implementation mode of the servo torque control mode, the man-machine interface selects the servo torque control mode, and the control algorithms called in the control module of the central controller are a PI controller and a PD controller. In this embodiment, the PD controller outputs a control quantity motor _ current, the input of the PI controller is motor _ current, the current in the actual rotation of the feedback section, and the maximum current threshold I in the desired rotation of the human-machine interface input max And a torque control quantity motor _ current4 is obtained through PI control and is finally output to the servo motor. The PI controller obtains a position control quantity motor _ current4 by adopting a second PI control algorithm based on the output quantity motor _ current of the PD controller, and the formula is as follows:
Figure BDA0003960080140000133
the motor _ current represents an output quantity of the PD controller, and a specific calculation formula is the same as a calculation formula of the servo position control mode, and is not described herein again. motor _ current4 (t + 1) represents a torque control amount at time t + 1; motor _ current4 (t) represents a torque control quantity at the time t, and is essentially the current I in the actual rotation at the time t m ，I m ≤I max 。
In the embodiments, all the control amounts (force position control amount, speed control amount, and torque control amount) are currents, and in this embodiment, the current control amount which is optimum in each state is obtained by various controllers, and the motor is controlled by the motor driver to obtain an appropriate torque (servo torque control mode) or position (servo position control mode). Thus, all mode control variables are current in nature to control the motor, except for the "target variable" that needs to be precisely controlled in different modes. Namely, in the servo torque control mode, torque is taken as a judgment condition; in the servo position control mode, the position is used as a determination condition.
The above embodiments are implementation cases in an automatic mode of the numerical control valve control system. In the embodiment, the automatic mode is selected on the human-computer interface, or the initial state of the operation process of the numerical control valve control system is the automatic mode. The control quantity is obtained according to different implementation modes of the central controller and is sent to the base layer controller, and the control quantity is analyzed and specifically sent to a single valve or a plurality of valves of the actuator part to control the flow or the rate of the system. In the automatic mode, each valve obtained according to initial values (or target values) set by the pipeline process, external data (pressure, vacuum degree and the like) and the like needs to automatically adjust the opening and closing amount or the rotation position of the valve in real time, and the central controller automatically controls the opening and closing size of the valve according to set speed or flow so that the pipeline system can complete the pressure, speed or flow required by the process.
Specific example 2:
as another embodiment of the invention, the embodiment discloses a manual mode of the numerical control valve control system. In a manual mode, opening and closing of any valve of the pipeline system are controlled on a human-computer interface, namely, any valve in the opening and closing system can be 'inching' through the human-computer interface of the numerical control valve control system; meanwhile, the expected value of the opening and closing of the valve can be set based on a human-computer interface, and the rotation angle of the valve is directly controlled through a central controller, a base layer controller and the like so as to control the flow of a pipeline system. In the present embodiment, in the manual mode, the desired flow parameters are set through the human-computer interface, and the speed or flow rate of the gas or liquid flowing through the valve can be set by combining external data (pressure, vacuum, etc.), and the central controller controls the opening and closing amount of the valve position according to the set speed or flow rate to meet the process requirements.
Specific example 3:
as another specific embodiment of the present invention, the present embodiment discloses the protection functions of the numerical control valve control system, such as overload protection, limit protection, current (torque) adjustment, and valve rotation speed setting. In the implementation case, the overload protection of the system is mainly to set the maximum torque value of the opening and closing of the valve on a human-computer interface, when the maximum torque of the motor operates the value, the motor stops moving, and the system is in an overload protection state, so that the motor is protected and the service life of the system is prolonged. The limiting protection is that a limiting sensor is arranged at the rotation limit position of the motor-driven valve in the rotation process of the motor-driven valve, so that the rotation of the valve is not out of limit, and the whole valve control system is protected. The current (moment) regulation, valve rotation speed setting and the like are the maximum current and rotation speed measurement set on a human-computer interface, and when the set expected value exceeds the set value, the system automatically judges that the operation is wrong or stopped so as to protect the whole valve numerical control system. In the embodiment, the system is also specified to be in an out-of-control state, a valve rotation overrun state or other emergency states, and an operator can realize the emergency stop of the whole system through an emergency stop button.
Specific example 4:
as another embodiment of the present invention, the present embodiment discloses a pipeline of a gas mixing system as shown in fig. 6, which can be precisely controlled based on the numerical control valve system of the present embodiment, wherein in fig. 6, the MFC is a mass flow controller, and SV is a structure formed by a pipeline valve of an actuator part and a servo motor. In the embodiment shown in fig. 6, 3 gas inputs and 4 gas outputs are arranged, and in the practical case, the numerical control valve system based on the embodiment can be expanded, so that the multi-path (not less than 16 paths) gas input/output function is satisfied. In the implementation case, the flow input/output of the system is controlled based on the numerical control valve control system, the current pipeline flow is fed back to the central controller based on the mass flow controller, and then the accurate control of each pipeline gas flow is further realized through the base layer controller; and the accurate 'opening and closing' and the rotation torque of the system valve can be realized through a feedback part. In the implementation case, the gas in the gas mixing tank is mixed in a precise proportion through the precise control of the flow rate, so that the target gas with components in a precise proportion is obtained.
The numerical control valve control system realizes accurate control on application scenes with higher requirements on flow or speed in a pipeline system, has controllable and adjustable rotating moment and position, can be adjusted and regulated in a self-adaptive manner through external input, can output signals to control external devices, is friendly in human-computer interface, simple in operation interface and the like. The invention solves the high-precision control and regulation problems of flow, flow velocity, pressure and the like of a pipeline system based on multi-mode valve control, ensures that the torque and the position of the valve are controllable and adjustable, improves the control precision of the pipeline system and increases control modes.
The numerical control valve control system with closed-loop feedback control has the following advantages:
1. the invention forms a control operation closed loop through the human-computer interface, the central controller, the base layer controller, the actuator and the feedback part, can realize the accurate control of the flow and the speed of gas or liquid flowing in the valve, realizes the accurate adjustment of the opening and closing state of the valve and further accurately controls the pipeline system where the valve is positioned.
2. The invention has a plurality of modes, including a force-position mixed control mode, a servo position mode and a current (moment) control mode, and selects a proper control mode according to the requirement to realize valve control. Meanwhile, the control system is also provided with an automatic execution mode and a manual execution mode, so that valve control and system flow control can be completed in the manual mode under the condition that the automatic mode has errors.
3. The invention can realize the start-stop control of external state quantities such as temperature, humidity, pressure, vacuum and the like, and the state of the state quantities is fed back and output to the central controller, so that the state quantities act on the actuator and the valve can be accurately controlled based on the state quantities.
4. The valve of the actuator is controlled by a full servo motor, the rotation precision is high, the movement precision can reach +/-5 mu m, and the opening and closing amount or the rotating moment and the position of the valve are controllable and adjustable.
5. The central controller can support the linkage function of a plurality of valves, namely, the central controller can control the valves to be opened and closed simultaneously; and the central controller and the base layer controller can support multi-axis expansion of the actuator, namely, the serial/parallel connection is supported to increase the number of axes of the actuator, so that the function expansion of the pipeline system is realized.
6. The control system can realize the combined programming operation of any valve according to different requirements of a pipeline system, a process and the like, and the combination of all valves is flexible and variable; meanwhile, under a control algorithm, the valve opening and closing amount or the rotating position of each valve obtained based on external data (pressure, vacuum degree and the like) and the like needs to be automatically adjusted in real time.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understand the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A closed-loop feedback controlled digitally controlled valve control system comprising: the system comprises a central controller, a base layer controller, a man-machine interaction module and a feedback execution module;
the central controller is respectively connected with the base layer controller and the human-computer interaction module; the feedback execution module is respectively connected with the base layer controller and the central controller;
the human-computer interaction module is used for:
inputting a control target value of a pipeline valve; the control target value includes: at least one of a desired rotational position, a desired rotational speed, and a maximum current threshold in a desired rotation;
the central controller is configured to:
receiving a control target value of the human-computer interaction module and feedback data of the pipeline valve, which is acquired by the feedback execution module;
calculating the control quantity of the pipeline valve by adopting a feedback control algorithm according to the control target value and the feedback data;
wherein the feedback data comprises: at least one of an actual rotational position, an actual rotational speed, and a current in actual rotation; the control quantity comprises: at least one of a force position control amount, a speed control amount, and a moment control amount;
the base layer controller is configured to:
applying the control quantity to the line valve;
the feedback execution module is configured to:
and detecting the state of the pipeline valve in real time to obtain the feedback data.
2. A closed-loop, feedback-controlled, digitally-controlled valve control system as claimed in claim 1, wherein said central controller comprises: the system comprises a data receiving module and a multi-mode control module;
the data receiving module is configured to:
if the current control mode is a force-position mixed control mode, receiving an expected rotation position and an expected rotation speed sent by the man-machine interaction module and an actual rotation position and an actual rotation speed of the pipeline valve acquired by the feedback execution module;
if the current control mode is the servo position control mode, receiving an expected rotation position, an expected rotation speed and a maximum current threshold value in expected rotation sent by the man-machine interaction module, and the actual rotation position, the actual rotation speed and the current in actual rotation of the pipeline valve, which are acquired by the feedback execution module;
if the current control mode is the servo speed control mode, receiving the expected rotation speed sent by the man-machine interaction module and the actual rotation speed of the pipeline valve acquired by the feedback execution module;
if the current control mode is the servo torque control mode, receiving an expected rotation position, an expected rotation speed and a maximum current threshold value in expected rotation sent by the man-machine interaction module, and the actual rotation position, the actual rotation speed and the current in actual rotation of the pipeline valve, which are acquired by the feedback execution module;
the multi-mode control module is internally provided with a PD controller and a PI controller and is used for:
if the current control mode is a force-position mixed control mode, inputting the expected rotation position, the expected rotation speed, the actual rotation position and the actual rotation speed into the PD controller, and applying a force-position control quantity to the pipeline valve by the PD controller;
if the current control mode is a servo position control mode, inputting the expected rotation position, the expected rotation speed, the actual rotation position and the actual rotation speed into a PD controller, inputting the output quantity of the PD controller, the maximum current threshold value in the expected rotation and the current in the actual rotation into the PI controller, and applying a position control quantity to the pipeline valve by the PI controller through a first PI control algorithm;
if the current control mode is a servo speed control mode, inputting the expected rotating speed and the actual rotating speed into the PD controller, and applying a speed control quantity to the pipeline valve by the PD controller;
and if the current control mode is a servo torque control mode, inputting the expected rotation position, the expected rotation speed, the actual rotation position and the actual rotation speed into a PD controller, inputting the output quantity of the PD controller, the maximum current threshold value in the expected rotation and the current in the actual rotation into the PI controller, and applying a torque control quantity to the pipeline valve by the PI controller through a second PI control algorithm.
3. A closed-loop, feedback-controlled, digitally-controlled valve control system as claimed in claim 1 further comprising: an external data measuring device;
the external data measuring device is respectively connected with the central controller and the base layer controller;
the external data measuring device is used for acquiring environmental data of the environment where the pipeline valve is located and transmitting the environmental data to the man-machine interaction module through the central controller;
wherein the environment data comprises: temperature, humidity, pressure and vacuum degree;
the human-computer interaction module is used for displaying the environment data; the control target value of the pipeline valve is determined according to the environmental data.
4. The system of claim 1, wherein the human-computer interaction module is further configured to:
inputting a set maximum torque value, a set maximum current and a set rotation speed of a pipeline valve;
the central controller is further configured to:
and when the expected rotation position exceeds the set maximum torque value, the expected rotation speed exceeds the set rotation speed amount, or the maximum current threshold value in the expected rotation exceeds the set maximum current, controlling the pipeline valve to stop running.
5. A closed-loop, feedback-controlled, digitally-controlled valve control system as claimed in claim 1 further comprising: a limit sensor; the limit sensor is arranged at the rotation limit position of the pipeline valve.
6. A closed-loop, feedback-controlled, digitally-controlled valve control system as claimed in claim 1 further comprising: a servo controller and a servo motor;
the base layer controller is connected with the servo controller; the servo controller is connected with the pipeline valve through the servo motor; the feedback execution module is connected with the pipeline valve through the servo motor.
7. The system of claim 1, wherein the central controller is coupled to the human-machine interaction module via a network bus.
8. A closed-loop feedback controlled, digitally controlled valve control system as claimed in claim 6 in which the base controller is connected to the servo controller by a CAN bus.
CN202211476176.5A 2022-11-23 2022-11-23 Numerical control valve control system with closed-loop feedback control Pending CN115933463A (en)

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