JP5700271B2 - バルブアクチュエータの改良 - Google Patents
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- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/39—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using a combination of the means covered by at least two of the preceding groups G05B19/21, G05B19/27 and G05B19/33
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/04—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor
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- G—PHYSICS
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/64—Compensating the speed difference between engines meshing by a differential gearing or the speed difference between a controlling shaft and a controlled shaft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Description
この発明は、バルブアクチュエータの改良およびバルブアクチュエータに関連する改良に関する。この発明は特に、必ずしもこれに限定されるものではないが、制御バルブアクチュエータに適用可能であり、この制御バルブアクチュエータは、一般にたとえばプロセス計測からの信号に反応して、導管中の流体の流れを調整する、バルブの制御のためのアクチュエータである。このようなアクチュエータは、概して高い精度を必要とし、導管を完全に開閉することにより流れを単に切換えるのではなく、導管中の流体流量の連続した粗調整および微調整を実現する役割を果たす。
バルブアクチュエータは、たとえば火力および水力発電産業、石油およびガス採掘、水産業、水道事業、および化学処理産業で、広く利用される。こういった目的のほとんどに関して、アクチュエータは、必然的に強力であり、ロータリー出力に関してはおよそ3Nmから約1200Nm、またはリニア出力に関しては100Nから30,000Nの出力レベルを提供するように構成される。バルブアクチュエータは、空気圧駆動式、液圧駆動式、電気駆動式、および電気−液圧駆動式であることがあるが、主に空気圧駆動式である。空気圧駆動式は、必要なレベルの動作精度および信頼性を備えるように構築する費用がよりかからないためである。バルブアクチュエータは、概してすべて、アクチュエータを設定、監視、および制御するためのプロセッサ制御を有する。主要な制御要素は、アクチュエータ位置、すなわちバルブ位置と、アクチュエータトルク(主にロータリー出力アクチュエータに関して)と、スラスト(主にリニア出力アクチュエータに関して)とを含む。ロータリー出力アクチュエータにおいて、たとえば、バルブ位置は典型的に、駆動されるロータリー出力シャフトの回転または回転の一部をロータリーエンコーダにより計数することによって求められる。このようなアクチュエータのアクチュエータ出力シャフトにおいて生成される負荷は典型的に、歪みゲージによってまたは圧力トランスデューサによってなど、機械的手段によって求められる。負荷は、モータ中のトルクに関連する電流からも求められるかもしれない。後者のこのような機構の例は、US4,288,665およびGB2,101,355に記載されている。
る場合がある。閉ループプロセスでは、プロセス制御を維持するために、バルブ位置に対して、急速で、多くの場合非常に微小な調整を行うことが必要とされる。コントローラは、まず、相当の力を生成して必要な始動スラストまたはトルクを生成し、次にバルブを所定位置に急速に制御しようとしなければならない。最初の重負荷を乗り越えるために、コントローラは、飽和状態まで駆動されることがよくあり、したがってワインドアップ動作(コントローラが全出力を与えるが、負荷が瞬時に消え、コントローラはまだ全出力のままである)が、バルブが、バルブの所望位置をオーバーシュートすることを引起こし、制御ループの不安定性を引起こす。
この発明の第1の局面に従って、バルブアクチュエータが提供される。このバルブアクチュエータは、モータシャフトを有する電気駆動モータと、モータシャフトにリンクされ、バルブの移動を駆動する出力シャフトとを備える。このアクチュエータは、アクチュエータ出力シャフトの第1の閉ループ制御を実現するように配置される制御システムをさらに備え、この制御システムは、アクチュエータ出力シャフトの位置を感知する第1の位置センサとモータシャフトの位置を感知する第2の位置センサとに連結されモータシャフトの速度を求めることを可能にするコントローラを含む。この制御システムは、第1および第2のセンサからの感知された信号に応答し、モータ速度/位置を相応に調整するよう構
成される。適切には、コントローラは、電気モータの帯域幅の少なくとも5倍高速度で周期し、好ましくは、コントローラは、第1および/または第2のセンサを、アクチュエータの機械時定数の10分の1未満の周期でサンプリングするよう配置される。
がなく、したがってケーブルが筐体の保護内にあるためである。
をさらに備える。このアクチュエータは、万一の電源の停電の際にバルブを安全位置に移動させるフェールセーフ機構をさらに備え、このフェールセーフ手段は、電気モータおよび制御システムに電力を供給しバルブをトルク/スラスト制御された方法で安全位置に移動させるように構成される少なくとも1つのスーパー/ウルトラキャパシタを含む。
図1から図4を参照して、このシステムは典型的に、電気駆動モータ3および電子回路のために必要とされる電圧を生成するスイッチング電源2によって提供されるDC電源1を含む。アクチュエータの駆動モータ3は、平歯車ドライブトレイン4a−dを通じてラック5およびピニオン6まで駆動する永久磁石DCモータを適切に含む。ラック5は、制御バルブの開度の程度を変化させるのに必要なリニア出力を提供するアクチュエータの出力シャフト7に連結される。制御バルブは、図中に示さない。
・モータシャフト位置
2つのセンサ10、11は、出力シャフト7における微小な変化を検出するだけではなく、モータシャフト3aにおける如何なる移動も検出する「スーパーセンサ」を効果的に一緒になって形成する。
とができる。コントローラ9の特性をさらに向上させるために、以下の実現化例が利用される。すなわち、出力センサ11に基づくバルブ位置決め制御ループ11aおよびモータセンサ10に基づく高精度モータ速度制御ループ10aの、2つの制御ループを設ける。
クおよびピニオン構造5および6を介してリニア駆動される。バルブへの駆動力は、バルブ連結ボス51において終端する外側スリーブ50を介して伝達される。モータからの駆動力(図6および図7中に示さず)は、内側スリーブ52を介して外側スリーブ50へ伝達される。
歪みゲージ16の出力は、スラスト制御ループ16a(図4)における主フィードバックを形成する。まず、アナログ回路が、スラスト信号を処理し、計測中のノイズを除去する。フィルタ処理されたこの信号は、アクチュエータよりも大きな帯域幅を有し、コントローラに送込まれるものである。歪みゲージ16からの処理されたスラスト測定値が、参基準値18よりも小さい場合は、モータ3は、最大出力を生成することを許される。アクチュエータによって生成されるスラストが、設定値18に達した場合は、モータ電流は、全負荷スラストより大きく維持するのにちょうど十分な電流(したがってモータによって生成されるトルク)となるような値に、歯車の逆効率とモータの固有のコギングトルクを利用して制限される。したがって、負荷を維持するのに必要な出力は、負荷を移動させるのに必要な出力の何分の一かである。したがって、スラスト制御方法は、プログラム可能であり、正確で、および効率的になるよう最適化される。重要なことに、スラスト制御は、フェールセーフ動作においても実施される。
を提供することである。また、電力がない場合に、アクチュエータがセルフロックであり、よってその位置を維持するであろうことを確実にする必要がある。ブレーキによって第2の要件を満たしてもよいが、これはアクチュエータを手動で駆動するためにブレーキに打勝つという問題を生じさせる。
温度センサは、バルブシールの漏れを示してもよい。
Claims (4)
- バルブアクチュエータであって、
モータシャフトを有する電気駆動モータと、
前記モータシャフトに機械的にリンクされ、バルブの移動を機械的に駆動する出力シャフトと、
制御システムとを備え、
前記制御システムは、
(ア)コントローラと、
(イ)前記コントローラに結合され、前記アクチュエータ出力シャフトの位置を感知する第1の位置センサと、
(ウ)前記コントローラに結合され、前記モータシャフトの位置を感知して、前記モータシャフトの速度を求めることを可能にする第2の位置センサとを含み、
前記第1の位置センサの感度は、前記出力シャフトの速度を前記出力シャフトの最大動作速度の少なくとも2%以内に制御するように高いものであり、
前記コントローラは、前記第1および/または第2の位置センサを、前記モータの機械時定数の5分の1未満の周期でサンプリングするように配置され、
前記コントローラは、前記第1および第2の位置センサからの感知された信号に応答して、要求速度を生成して前記モータの速度/位置を相応に調整する前記出力シャフトの第1の閉ループ制御を与えるように構成され、
前記制御システムはさらに、前記第2の位置センサを用い、前記モータ速度を調整して前記第1の閉ループ制御が生成した前記要求速度に前記モータ速度を維持するように構成された前記第1の閉ループ制御内の第2の制御ループを含み、前記要求速度は、前記モータと前記出力シャフトとの間の機械的連結におけるバックラッシュを表わすバックラッシュ値を参照して生成され、該バックラッシュ値は前記第1および第2の位置センサを用いて前記第2の位置センサの位置の変化量を参照して生成される、バルブアクチュエータ。 - 前記モータを前記出力シャフトに連結する機械的ドライブトレイン内の前記バックラッシュは、前記第2の位置センサの位置の変化量を参照することにより測定され、方向を逆転させる際に、前記第1の位置センサの移動を開始させる、請求項1に記載のバルブアクチュエータ。
- 前記バルブアクチュエータは、前記出力シャフトの遠位端に位置するトランスデューサを含み、前記出力シャフトは、前記トランスデューサと前記アクチュエータの本体との間に通信ケーブルの内部布設を可能にする内部通路を含む、請求項1または2に記載のバルブアクチュエータ。
- 前記制御システムは、前記モータを前記出力シャフトに連結するドライブトレイン内の摩耗を、前記第1の位置センサの特定の位置での前記第2の位置センサからの出力を参照することによって測定するように構成される、請求項1から3のいずれかに記載のバルブアクチュエータ。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0613662A GB0613662D0 (en) | 2006-07-10 | 2006-07-10 | Improvements to valve actuators |
GB0613662.6 | 2006-07-10 | ||
PCT/GB2007/002531 WO2008007058A2 (en) | 2006-07-10 | 2007-07-09 | Improvements to valve actuators |
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JP2009543004A JP2009543004A (ja) | 2009-12-03 |
JP5700271B2 true JP5700271B2 (ja) | 2015-04-15 |
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JP2009518947A Active JP5700271B2 (ja) | 2006-07-10 | 2007-07-09 | バルブアクチュエータの改良 |
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US (1) | US8118276B2 (ja) |
EP (1) | EP2038713B1 (ja) |
JP (1) | JP5700271B2 (ja) |
KR (1) | KR101557084B1 (ja) |
CN (1) | CN101506747B (ja) |
BR (1) | BRPI0714375B1 (ja) |
GB (2) | GB0613662D0 (ja) |
MY (1) | MY184559A (ja) |
NO (1) | NO341231B1 (ja) |
RU (1) | RU2461039C2 (ja) |
TW (1) | TWI409398B (ja) |
WO (1) | WO2008007058A2 (ja) |
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-
2006
- 2006-07-10 GB GB0613662A patent/GB0613662D0/en not_active Ceased
-
2007
- 2007-07-09 GB GB0713222A patent/GB2440040B/en not_active Expired - Fee Related
- 2007-07-09 CN CN2007800312779A patent/CN101506747B/zh active Active
- 2007-07-09 JP JP2009518947A patent/JP5700271B2/ja active Active
- 2007-07-09 BR BRPI0714375-3A patent/BRPI0714375B1/pt active IP Right Grant
- 2007-07-09 WO PCT/GB2007/002531 patent/WO2008007058A2/en active Application Filing
- 2007-07-09 US US12/307,823 patent/US8118276B2/en active Active
- 2007-07-09 EP EP07766167.6A patent/EP2038713B1/en active Active
- 2007-07-09 MY MYPI20090083A patent/MY184559A/en unknown
- 2007-07-09 RU RU2009104084/08A patent/RU2461039C2/ru active
- 2007-07-09 TW TW96124912A patent/TWI409398B/zh active
- 2007-07-09 KR KR1020097002055A patent/KR101557084B1/ko active IP Right Grant
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Also Published As
Publication number | Publication date |
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GB2440040B (en) | 2011-03-16 |
GB0613662D0 (en) | 2006-08-16 |
NO341231B1 (no) | 2017-09-18 |
GB2440040A (en) | 2008-01-16 |
JP2009543004A (ja) | 2009-12-03 |
EP2038713A2 (en) | 2009-03-25 |
RU2009104084A (ru) | 2010-08-20 |
WO2008007058A3 (en) | 2009-01-15 |
GB0713222D0 (en) | 2007-08-15 |
MY184559A (en) | 2021-04-02 |
TW200817613A (en) | 2008-04-16 |
KR20090029282A (ko) | 2009-03-20 |
US20090230338A1 (en) | 2009-09-17 |
US8118276B2 (en) | 2012-02-21 |
KR101557084B1 (ko) | 2015-10-02 |
EP2038713B1 (en) | 2019-05-08 |
RU2461039C2 (ru) | 2012-09-10 |
WO2008007058A2 (en) | 2008-01-17 |
CN101506747A (zh) | 2009-08-12 |
NO20090636L (no) | 2009-02-10 |
BRPI0714375A2 (pt) | 2013-03-05 |
BRPI0714375B1 (pt) | 2023-01-24 |
CN101506747B (zh) | 2012-10-10 |
TWI409398B (zh) | 2013-09-21 |
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