EP1727273B1 - Vorrichtung zum Speisen eines drahtlos ansteuerbaren Stellantriebs - Google Patents

Vorrichtung zum Speisen eines drahtlos ansteuerbaren Stellantriebs Download PDF

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Publication number
EP1727273B1
EP1727273B1 EP05011436A EP05011436A EP1727273B1 EP 1727273 B1 EP1727273 B1 EP 1727273B1 EP 05011436 A EP05011436 A EP 05011436A EP 05011436 A EP05011436 A EP 05011436A EP 1727273 B1 EP1727273 B1 EP 1727273B1
Authority
EP
European Patent Office
Prior art keywords
unit
drive
control
drive device
actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP05011436A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1727273A1 (de
Inventor
Dominic Lendi
Ernst Schmuki
Beat Suter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Priority to DK05011436.2T priority Critical patent/DK1727273T3/da
Priority to EP05011436A priority patent/EP1727273B1/de
Priority to ES05011436T priority patent/ES2371470T3/es
Priority to AT05011436T priority patent/ATE522022T1/de
Priority to US11/441,871 priority patent/US7402972B2/en
Priority to CNB2006100918023A priority patent/CN100570192C/zh
Publication of EP1727273A1 publication Critical patent/EP1727273A1/de
Application granted granted Critical
Publication of EP1727273B1 publication Critical patent/EP1727273B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24D—DOMESTIC- OR SPACE-HEATING SYSTEMS, e.g. CENTRAL HEATING SYSTEMS; DOMESTIC HOT-WATER SUPPLY SYSTEMS; ELEMENTS OR COMPONENTS THEREFOR
    • F24D19/00—Details
    • F24D19/10—Arrangement or mounting of control or safety devices
    • F24D19/1006—Arrangement or mounting of control or safety devices for water heating systems
    • F24D19/1009—Arrangement or mounting of control or safety devices for water heating systems for central heating
    • F24D19/1015—Arrangement or mounting of control or safety devices for water heating systems for central heating using a valve or valves
    • F24D19/1018—Radiator valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24D—DOMESTIC- OR SPACE-HEATING SYSTEMS, e.g. CENTRAL HEATING SYSTEMS; DOMESTIC HOT-WATER SUPPLY SYSTEMS; ELEMENTS OR COMPONENTS THEREFOR
    • F24D19/00—Details
    • F24D19/10—Arrangement or mounting of control or safety devices
    • F24D19/1006—Arrangement or mounting of control or safety devices for water heating systems
    • F24D19/1009—Arrangement or mounting of control or safety devices for water heating systems for central heating
    • F24D19/1015—Arrangement or mounting of control or safety devices for water heating systems for central heating using a valve or valves
    • F24D19/1024—Arrangement or mounting of control or safety devices for water heating systems for central heating using a valve or valves a multiple way valve
    • F24D19/1033—Arrangement or mounting of control or safety devices for water heating systems for central heating using a valve or valves a multiple way valve motor operated

Definitions

  • the invention relates to a device for feeding a wireless controllable actuator according to the preamble of claim 1.
  • Such devices are advantageously used in battery-operated, wirelessly controllable valve actuators, for example in a radio-controlled radiator valve.
  • Wireless controllable actuators are advantageously operated as an island device, which means here, such actuators are also locally equip with an electrical energy source, usually with a battery.
  • DE 28 00 704 A proposed to equip a valve actuator with an ultrasonic receiver and also supply the valve actuator with energy for charging a battery via ultrasound via a pipeline network.
  • a DC-to-AC converter for a vehicle engine is known.
  • a communication microcomputer and a control microcomputer are connected via an opto-coupler acting as a galvanic isolation.
  • the invention is based on the object to provide a wireless controllable and powered by a battery actuator whose energy consumption is optimized.
  • Fig. 1 is denoted by 1 an electric motor which is coupled via a gear 2 with a transformation element 3.
  • a generated by the electric motor 1 torque M M is converted by the transmission 2 in a transmitted to the transformation element 3 drive torque M A.
  • a plunger 4 acts with a force F on an actuator 5.
  • the actuator 5 is here a valve with a closing body on which the plunger 4 acts.
  • the valve is typically a continuously variable valve in a heating or cooling water circuit, for example a radiator valve.
  • the electric motor 1 is fed via a motor driver module 7 connected to a voltage source 6.
  • a sensor device 8 is arranged for detecting a rotational movement.
  • One from the sensor device 8 generated signal s is performed by way of example on a calculation module 9.
  • a speed signal ⁇ and a position signal p are generated in the calculation module 9 with the aid of the signal s.
  • a control device of an actuator for the actuator 5 has an inner closed control loop and with advantage also an outer closed control loop.
  • the inner control loop leads from the sensor device 8 via the speed signal ⁇ converted by the calculation module 9 and a first comparison device 10 via a first control module 11 to the motor driver module 7.
  • the outer control loop leads from the sensor device 8 via the position signal p and a second one converted by the calculation module 9 Comparative device 12 via a second control module 13 to the first comparison device 10, and from there via the first control module 11 to the motor driver module 7.
  • At the second comparison means 12 as a reference variable is advantageously fed a desired position signal p s of the control element.
  • the electric motor 1 is a DC motor and the motor driver module 7 has a driver unit 20 (FIG. Fig. 2 ) and a lying on the battery voltage U B bridge circuit 21 for controlling the electric motor 1.
  • a driver unit 20 FIG. Fig. 2
  • Four electronic switches 22, 23, 24 and 25 of the bridge circuit 21 can be controlled by the driver unit 20.
  • the driver unit 20 can be controlled with advantage via a control signal m.
  • control signal m is a signal whose pulse width is modulated by the first control module 11.
  • the driver unit 20 is an example of an integrated module, while the electronic switches 22, 23, 24 and 25 are realized for example by MOS field-effect transistors.
  • the motor driver module 7 is adapted in its construction to a selected type of engine, depending on the requirements of the actuator selected a suitable engine type and, for example, instead of the bridge circuit 21 adapted to the engine type electronic commutation circuit is used.
  • a valve with a usable as an actuator closure body 30 which is movable via the plunger 4 against the force of a spring 31 to a valve seat 32.
  • the plunger 4 is, depending on the direction of rotation of a drive spindle 33 of the electric motor 1, on a longitudinal axis 34 of the closing body 30 movable back and forth.
  • the transformation element 3 is here an external thread 35 formed on the plunger 4 in conjunction with an internal thread formed on a gear wheel 36.
  • valve In the Fig. 3a the valve is shown in the open state, the closing body 30 is thus in a first end position, a possible flow q for a fluid is 100%.
  • the plunger 4 is also in an end position, wherein an air gap 37 forms between the plunger 4 and the closing body 30.
  • the valve drive is mounted as a universal drive to different valve types, individually achievable end positions in the closing body and valve drive will not match exactly.
  • the plunger 4 acts with a force F B on the closing body 30, which rests on the valve seat 32 in the illustrated state.
  • the flow q is about 0% in this state, the valve is practically closed.
  • valve seat 32 is here, for example, of an elastic material, which is deformed at the correspondingly large actuating force F c from the closing body 30.
  • the flow q is 0% in this state, the valve is tightly closed.
  • Fig. 4 is a lifting model of the valve shown as a principal curve H (F).
  • the curve H (F) shows the relationship between the stroke H of the closing body 30 and the force applied to the closing body 30 actuating force F.
  • F A of the closing body 30 remains in the in the Fig. 3a shown first end position. So that the closing body 30 can be moved against the valve seat 32, the plunger 4, working against the spring 31, has to overcome an approximately linearly increasing actuating force F.
  • an associated reference value H 0 of the stroke is plotted in the diagram.
  • the reference value H 0 corresponds to a state of the actuator in which the closing body 30 functioning as an adjusting element reaches the valve seat 32.
  • the reference value H 0 is preferably not exceeded, as long as energy consumption of the actuator should be minimal, which is desirable in an energy supply by means of battery with advantage.
  • a force applied by the actuator or a torque applied by the actuator is advantageously detected and upon reaching a predetermined value of the force or the torque, the current position of the actuating element recorded and stored as a mechanical end position of the actuator or the control element and taken into account in a control process.
  • the calibration process is performed, for example, via a second control module 13 (FIG. Fig. 1 ) triggered starting signal k.
  • the rotational frequency of the electric motor 1 is kept constant during the calibration process to a lower value compared to a normal operation by the speed setpoint ⁇ s generated by the second control module 13 being adapted accordingly.
  • the actuator is, for example, a normally open thermostatic valve whose stroke H in principle depending on the force F as in the Fig. 4 shown, the closing body is moved with advantage only in the calibration method on the reference value H 0 of the stroke addition.
  • a control range R (stored in the lifting model of the actuator) Fig. 4 ) is advantageously determined by the determined reference value H 0 .
  • a lifting model is stored in the calculation module 9, in which important parameters such as a current position of the closing body, end positions of the closing body 30 and a current speed, Preferably, the current rotational frequency of the electric motor 1 or if necessary, the current speed of the closing body 30 are available.
  • the sensor device 8 preferably comprises a light source and a detector unit tuned to the spectrum of the light source, wherein the light source is directed to an optical pattern moved by the electric motor 1, so that light pulses arrive on the detector unit when the electric motor 1 is running.
  • the optical pattern is, for example, a disk arranged on the transmission 2 with optically reflective zones, or with holes or teeth which are designed such that a signal of the light source is modulated by the moving optical pattern.
  • the sensor device 8 can also be implemented differently, for example by means of an inductively operating device.
  • a control difference (p s -p) is formed from the setpoint position signal p s and the position signal p ascertained by the calculation module 9 and passed to the second control module 13.
  • a reference variable for the first comparison device 10 is generated.
  • the reference variable is advantageously a speed setpoint ⁇ s .
  • Speed signal ⁇ a control difference ( ⁇ s - ( ⁇ ) formed and passed to the first control module 11.
  • the control signal m is generated for the motor driver module 7 with the aid of the control difference ( ⁇ s - ⁇ ).
  • the speed of the electric motor 1 is kept constant.
  • rotating elements of the mechanically coupled to the electric motor 1 gear 2 and the transformation element 3 to neutralize their moments of inertia are each regulated to constant rotational frequencies.
  • the control of the electric motor 1 to a constant rotational frequency has the advantages that a speed-dependent noise level of the actuator is constant and can be optimized by a suitable choice of the speed setpoint ⁇ s .
  • the speed regulation has the advantage that self-induction of the electric motor 1 and moments of inertia of rotating elements of the actuator need not be taken into account in the calculation of a current estimated value F E for the actuating force F.
  • An end position of an actuating element can be reliably determined when the actuating element is moved towards the end position and thereby by a computing module 40 (FIG. Fig. 5 ) of the actuator is repeatedly calculated the current estimated value F E for the force F and compared with a predetermined limit.
  • the estimated value F E in a first variant can be calculated only approximately with a linear formula A.
  • the product formed from the control signal m, the current value of the battery voltage U B and a first constant k u is reduced by a second constant k F :
  • F e U B ⁇ k U ⁇ m - k F Due to the fact that, in addition to the control signal m, the speed signal ⁇ returned to the first comparator 10 is used in the calculation of the estimated value F E , a formula B results in an improved variant in which the estimated value F E can be calculated more accurately.
  • the formula B for calculating the estimated value F E is constructed with the three constants optimized for a microprocessor-based implementation. It goes without saying that the formula B can be calculated by mathematical transformation, for example, associated with an increase in the number of constants used, a suitable estimated value of the actuating force.
  • the three constants k U , k ⁇ and k F can be determined such that the estimated value F E for the determination of the end position of the actuating element can be calculated with sufficient accuracy.
  • Characteristics or properties of the electric motor 1, the motor driver module 7, the transmission 8 and the transformation element 3 are taken into account by the three constants k U , k ⁇ and k F.
  • the computing module 40 comprises a data structure advantageously stored in a microcomputer of the actuator and at least one program routine executable by the microcomputer for calculating the estimated value F E.
  • the current battery voltage U B is read in to calculate the estimated value F E by way of example via an analog input of the microcomputer.
  • the characteristics of the motor driver module 7 are particularly taken into account with the first constant k U, while the second constant k ⁇ especially characteristics of the electric motor 1, such as motor constant and DC resistance are taken into account.
  • the transmission 8 is considered with the third constant k F.
  • the efficiency of the actuator is taken into account by taking into each of the three constants k U , k ⁇ and k F.
  • the actuator 60 has a drive unit 61, a transmission unit 63, a control and regulation unit 62, the voltage source 6 (FIG. Fig. 1 ), a voltage regulator 64 and the sensor device 8 (FIG. Fig. 1 ) on.
  • the control unit 62 is associated with a transceiver unit 65 and a microcomputer unit 66.
  • the drive unit 61 comprises the motor driver module 7 (FIG. Fig. 1 ) and the electric motor 1 ( Fig. 1 ).
  • the gear unit 63 can be driven by the electric motor 1.
  • the transmission unit 63 acting on the actuator 5 with the actuating force F comprises the transmission 2 (FIG. Fig. 1 ), the transformation element 3 ( Fig. 1 ) and the plunger 4 ( Fig. 1 ).
  • the transceiver unit 65 and the microcomputer unit 66 are interconnected via a communication channel 68.
  • the control signal m ( Fig. 1 ) for driving the motor driver module 7 is generated by the microcomputer unit 66.
  • the signal s supplied by the sensor device 8 is fed to an input of the microcomputer unit 66.
  • the drive unit 61 and advantageously also the sensor device 8 are connected to the power supply directly to the battery voltage U B of the battery 6, while the control unit 62 can be fed via the voltage regulator 64 connected to the battery 6.
  • the actuator 60 has an optimized power management, which is controlled by the microcomputer unit 66.
  • the drive unit 61, the sensor unit 8 and the transceiver unit 65 are controlled sequentially by the microcomputer unit 66 so that the electrical energy drawn by the units 61, 8 and 65 is offset in time and interlocked and not accumulated.
  • the maximum power consumption of the drive unit 61 is limited with advantage. Due to the said sequential control and the current limiting current peaks are avoided, which - due to an internal resistance R i of the battery 6 - would lead to an impermissible decrease in the battery voltage U B. In particular, so-called starting current peaks of the drive unit 61 are limited by the current limitation.
  • the external station 70 is, for example, an operating device, a control center or a higher-level control device. From the external station 70, the actuator 60 typically receives a temperature setpoint, position setpoint, or mode of operation over the data communications link. In addition, current state information of the actuator 60 via the data communication connection to the external station 70 is transferable. In a typical variant, the external station 70 is a node embedded in a computer network 71.
  • the control and regulating unit 62 fed via the connected to the battery voltage U B voltage regulator 64.
  • the voltage regulator 64 ensures the control and regulation unit 62 a constant operating voltage U S , independently of the respective power requirement of the drive unit 61 and the sensor unit 8.
  • the sensor device 8 comprises an optical pattern 72, a light source 73 and a detector unit 74 that can be moved by the gear unit 63.
  • the signal s transmitted from the sensor device 8 to the microcomputer unit 66 is detected by the detector unit 74 from that of the optical pattern 72 by movement of the sensor Gear unit 63 influenced light signal of the light source 73 won.
  • the light source 73 can be controlled by a clock signal c generated by the microcomputer unit 66 in order to minimize energy consumption.
  • this has a modulation device 75, by means of which the light beam generated by the light source 73 can be modulated.
  • a signal transformation effected by the modulation device 75 in the microcomputer unit 66 is taken into account by corresponding demodulation of the signal s delivered by the sensor device 8.
  • control signal m of the electric motor 1 is controlled in each phase of operation to a constant speed.
  • the electric motor 1 is always operated at an optimum operating point with respect to its characteristic.
  • control and regulation unit 62 is supplied via the voltage regulator 64 is at high battery voltage U B and also caused by the drive unit 61 and the sensor unit 8 strong load of the voltage source 6 ensures a secure power supply to the control unit 62.
  • this has a switching device 76 for bridging the voltage regulator 64.
  • the switching device 76 can be actuated by the microcomputer unit 66 by means of the activation signal a.
  • the switching device 76 has the advantage that the voltage regulator 64 is automatically bridged by the microcomputer unit 66, so that a voltage drop caused by the voltage regulator 64 is avoided by the control - And control unit 62 is applied by the switching device 76 for feeding directly to the battery voltage U B.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Position Or Direction (AREA)
  • Toys (AREA)
  • Looms (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP05011436A 2005-05-27 2005-05-27 Vorrichtung zum Speisen eines drahtlos ansteuerbaren Stellantriebs Expired - Lifetime EP1727273B1 (de)

Priority Applications (6)

Application Number Priority Date Filing Date Title
DK05011436.2T DK1727273T3 (da) 2005-05-27 2005-05-27 Indretning til forsyning af en trådløst kontrolleret servmotor
EP05011436A EP1727273B1 (de) 2005-05-27 2005-05-27 Vorrichtung zum Speisen eines drahtlos ansteuerbaren Stellantriebs
ES05011436T ES2371470T3 (es) 2005-05-27 2005-05-27 Dispositivo para alimentación de un servo accionamiento controlado sin cables.
AT05011436T ATE522022T1 (de) 2005-05-27 2005-05-27 Vorrichtung zum speisen eines drahtlos ansteuerbaren stellantriebs
US11/441,871 US7402972B2 (en) 2005-05-27 2006-05-26 Device for feeding an actuating drive that can be driven wirelessly
CNB2006100918023A CN100570192C (zh) 2005-05-27 2006-05-29 用于可无线致动的伺服驱动机构供电的装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP05011436A EP1727273B1 (de) 2005-05-27 2005-05-27 Vorrichtung zum Speisen eines drahtlos ansteuerbaren Stellantriebs

Publications (2)

Publication Number Publication Date
EP1727273A1 EP1727273A1 (de) 2006-11-29
EP1727273B1 true EP1727273B1 (de) 2011-08-24

Family

ID=35909816

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05011436A Expired - Lifetime EP1727273B1 (de) 2005-05-27 2005-05-27 Vorrichtung zum Speisen eines drahtlos ansteuerbaren Stellantriebs

Country Status (6)

Country Link
US (1) US7402972B2 (es)
EP (1) EP1727273B1 (es)
CN (1) CN100570192C (es)
AT (1) ATE522022T1 (es)
DK (1) DK1727273T3 (es)
ES (1) ES2371470T3 (es)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2452345A (en) * 2007-09-03 2009-03-04 Mina Adel Emil Barsoum Central heating system with battery operated thermostatic radiator valves.
WO2009140396A2 (en) * 2008-05-15 2009-11-19 University Of Utah Research Foundation Climbing robot using pendular motion
US10006462B2 (en) 2012-09-18 2018-06-26 Regal Beloit America, Inc. Systems and method for wirelessly communicating with electric motors
CN103511705A (zh) * 2013-09-11 2014-01-15 绥中泰德尔自控设备有限公司 带有联网功能的智能能量分配阀
GB201513549D0 (en) * 2015-07-31 2015-09-16 Siemens Ag Inverter
EP3321760B1 (en) 2016-11-09 2021-07-21 Schneider Electric Controls UK Limited User interface for a thermostat
EP3321596B1 (en) * 2016-11-09 2021-07-28 Schneider Electric Controls UK Limited Zoned radiant heating system and method
EP3321595B1 (en) 2016-11-09 2020-06-03 Schneider Electric Controls UK Limited Zoned radiant heating system and method
DE102017102894B4 (de) 2017-02-14 2025-06-12 Eq-3 Holding Gmbh Verfahren zur Ermittlung der Drehzahl eines mit einem pulsweitenmodulierten Signal angesteuerten elektrischen Stellmotors und Stelleinrichtung
DK180868B1 (da) * 2018-10-23 2022-06-08 Frese As Fjernvarmesystem samt fremgangsmåder til flowregulering og eftermontering af et flowreguleringssystem i et fjernvarmesystem

Family Cites Families (9)

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Publication number Priority date Publication date Assignee Title
DE2800704C2 (de) 1978-01-09 1984-05-17 Metallwerke Neheim, Goeke & Co Kg, 5760 Arnsberg Anordnung zum Steuern eines Ventils zur Beeinflussung der Raumtemperatur
DE4308031C2 (de) * 1992-10-21 1999-11-18 Bosch Gmbh Robert Vorrichtung zum Erfassen der Bewegung eines bewegbaren Teils
US5576605A (en) * 1992-11-20 1996-11-19 Seiko Epson Corporation Micro robot and holding case therefor
US6359547B1 (en) * 1994-11-15 2002-03-19 William D. Denison Electronic access control device
US6116201A (en) * 1995-12-22 2000-09-12 Labken, Inc. In-solenoid chip for undertaking plural functions
US5813655A (en) * 1996-10-11 1998-09-29 Pinchott; Gordon A. Remote-control on/off valve
AU3192899A (en) * 1998-03-19 1999-10-11 Lael D. King Liquid chemical delivery system
JP2004336907A (ja) 2003-05-08 2004-11-25 Denso Corp インバータシステム
US20040231716A1 (en) * 2003-05-22 2004-11-25 Litwin Robert Zachary Wireless controlled battery powered heliostats for solar power plant application

Also Published As

Publication number Publication date
US20060279238A1 (en) 2006-12-14
US7402972B2 (en) 2008-07-22
CN1869489A (zh) 2006-11-29
ATE522022T1 (de) 2011-09-15
CN100570192C (zh) 2009-12-16
ES2371470T3 (es) 2012-01-03
DK1727273T3 (da) 2011-12-12
EP1727273A1 (de) 2006-11-29

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