WO1991014219A1 - Procede et dispositif de commande d'un actionneur entraine par moteur - Google Patents

Procede et dispositif de commande d'un actionneur entraine par moteur Download PDF

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Publication number
WO1991014219A1
WO1991014219A1 PCT/DE1991/000199 DE9100199W WO9114219A1 WO 1991014219 A1 WO1991014219 A1 WO 1991014219A1 DE 9100199 W DE9100199 W DE 9100199W WO 9114219 A1 WO9114219 A1 WO 9114219A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
actuator
torque
value
blocking position
Prior art date
Application number
PCT/DE1991/000199
Other languages
German (de)
English (en)
Inventor
Hans-Peter Schabert
Erwin Laurer
Original Assignee
Siemens Aktiengesellschaft
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 Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO1991014219A1 publication Critical patent/WO1991014219A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D17/00—Control of torque; Control of mechanical power
    • G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
    • 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
    • F16K31/046—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor with electric means, e.g. electric switches, to control the motor or to control a clutch between the valve and the motor

Definitions

  • the invention relates to a method and a device for controlling a motor-operated actuator as is known, for example, from EP-B1-0 193 776.
  • Electric actuators for an actuator are usually driven by a three-phase asynchronous motor, the torque of which rises to the overturning moment or standstill torque when the actuator moves into a blocking position and the motor does not previously depend on the torque was switched off.
  • this blocking position is a fixed end stop of the actuator.
  • the blocking position can also be given by a foreign body jammed in the actuator.
  • the actuator can also be constructed in such a way that the actuating movement takes place between two fixed end stops OPEN and CLOSED, as is the case, for example, with a shut-off valve with a rear seat.
  • EP-B1-0 193776 to reduce the supply voltage of the electric drive motor in the remaining area of the actuating movement compared to the supply voltage in the initial area of the actuating movement by at least 10%. This reduction can be triggered depending on the distance or time. As a result of this measure, the full predetermined starting torque of the three-phase asynchronous motor is also available when starting the opposite direction.
  • the torque with which the valve is fixed in the end position depends on a deceleration torque which results from the vibration energy of the motor and the mechanical properties of the valve and the gearbox. If these properties change, for example as a result of an increase in the coefficient of friction, this can lead to the valve being only insufficiently clamped and fixed in its end position.
  • the invention is based on the object of specifying a method and a device for controlling a motor-driven actuator for an actuator, in which guaranteed is that the actuator is fixed in the end position with a reproducible torque.
  • the increase in the possible standstill torque can also only be initiated when the motor is already in the locked position. As a result of this increase, the valve is re-tensioned by a slight additional movement.
  • the possible standstill torque is the torque that the motor can develop at standstill with a given supply, for example with an electric motor the supply voltage. The possible is true
  • the standstill torque essentially coincides with the starting torque available with the same supply. Until the motor comes to a definitive standstill, there is a deceleration distance or a deceleration angle that depends on the structural conditions of the actuator and the actuator.
  • the possible standstill torque is increased to a value that is, for example, at least 5%, preferably is at least 10% higher than the standstill torque that is possible with the unbraked movement.
  • the possible standstill torque after the start of moving into the blocking position is regulated to a value which is smaller than the maximum standstill torque available when required in the starting phase of the actuating movement.
  • the actuator can contain, for example, a pneumatic motor or an electric motor, for example a single-phase or single-phase AC machine or a DC machine.
  • a three-phase asynchronous motor, in particular a squirrel-cage motor, is preferably provided as the electric motor, the starting torque of which essentially corresponds to the overturning torque or is greater than the overturning torque.
  • the starting torque and the standstill torque are approximately the same.
  • the standstill torque is preferably controlled by controlling an actual voltage applied to the electric motor.
  • the effective value of a delta voltage applied to a motor winding can be provided as the control variable, for example.
  • the individual phases of the actuating movement, in particular moving into the blocking position, are recorded by monitoring the speed of the motor.
  • the possible standstill torque is preferably increased after the rotational speed has dropped by at least 20% below a nominal value specified for the actuating movement before the start of entry into a blocking position.
  • the motor current flowing in a winding is provided as an indicator of the rotational speed.
  • the measurement of the motor current can be carried out anywhere in the supply line for the electric motor, for example in a control cabinet unit, which also contains the electronics required for regulating the actual voltage.
  • the actual voltage is controlled via a time-variable target voltage, which is always increased to a predetermined value when the motor current exceeds a predetermined limit value.
  • the setpoint voltage is preferably increased to a value which is greater than the value to which the setpoint voltage is raised when the blocking position is reached at the end of the actuating movement. If the motor current falls below a predetermined limit value, the target voltage is reduced. This measure limits the swing energy of the actuator.
  • the limit values of the motor current provided as switching points are preferably approximately 1.5 to 2.5 times, in particular 2 times the nominal current.
  • the motor temperature in particular the temperature of a winding of the electric motor, is additionally recorded and used as a disturbance variable for regulating the motor voltage in order to ensure a constant standstill torque.
  • the regulation of the torque of the electric motor is preferably carried out by a phase control of semiconductor valves.
  • 1 shows an arrangement for performing the method according to the invention is illustrated in a block diagram.
  • 2 shows an advantageous arrangement of semiconductor valves, which is particularly suitable for controlling the electric actuator in opposite directions of movement. Based on the in
  • FIGS. 3 and 4 show time diagrams in which the motor current, the actuating path, the actual voltage on the motor and the target voltage are plotted against time, the method according to the invention is explained in more detail.
  • an electric actuator contains an electric motor 2, which drives an actuator 4, for example a shut-off valve, via a gear (not shown in the figure).
  • An asynchronous three-phase motor in particular a squirrel-cage motor, is preferably provided as the electric motor 2, the starting torque and the overturning torque of which essentially coincide.
  • the electric motor is connected to the supply voltage of a three-phase network 12 via a semiconductor valve arrangement 6, a reversing contactor 8 and a fuse 10.
  • the semiconductor valve arrangement 6 is bridged by a bypass contactor 7, with which the motor can be connected directly to the network 12 in a emergency situation by means of a special command.
  • the actuator is preferably a compact drive with a self-switching loose gear, as disclosed, for example, in EP-B1-0 193 776.
  • a control device 20 is provided for phase control of the semiconductor valve arrangement 6, which provides ignition signals for the semiconductor valves, for example triacs or thyristor circuits. At least one of the three phases is provided with a device 22 for detecting the motor current flowing in this phase, for example a current transformer. In the example of the figure, this device 22 is followed by a comparison device 24, in which it is determined whether the flowing, for example effective motor current I exceeds or falls below a predetermined limit value I. Depending on the result of this comparison, the comparison device 24 then forwards a digital control signal to the control device 20. The control device then as a function of this comparison result determines a target value for the actual voltage applied to the motor 2, measured with a measuring device 26. The firing angles of the firing signals provided by the control device 20 for the semiconductor valve arrangement 6 are regulated by the control device 20 in such a way that the actual voltage measured by the measuring device 26 is readjusted in accordance with the target voltage specified by the control device 20.
  • the control device together with a disconnector, de reversing contactor 8, the fuses 10 and the semiconductor valve arrangement 6, are accommodated in a common switchgear assembly.
  • the motor for example on one of its windings, is provided with a device 28 for temperature measurement, which forwards an electrical signal corresponding to the motor temperature or the winding temperature to the control device 20.
  • This signal is then used in the control device 20 as a disturbance variable for correcting the setpoint voltage in order to compensate for the standstill torque which drops when the winding is hot.
  • a measured variable corresponding to the motor temperature can be carried out, for example, by a temperature sensor arranged on the electric motor 2 in the vicinity of a winding.
  • a semiconductor valve arrangement 6 with semiconductor valves 6a, b, c and d is provided, with which the connections of the electric motor 2 to the phases L2 and L3 can be interchanged.
  • the reversing contactor function can be performed by the semiconductor valve arrangement. Line 6 are taken over, so that a separate reversing contactor 8 (FIG 1) is no longer required.
  • FIG. 3 shows the actual voltage U M applied to a winding of the electric motor, the setpoint voltage U s specified by the control device at a specific motor temperature, the motor current I and the travel path s of the actuator in a diagram versus time.
  • the torques currently output by the engine are not shown. These are approximately proportional to the product of the motor current I and the actual voltage U M.
  • the control device receives a switch-on command.
  • the target voltage is then set to a value U S2 that is smaller and independent of the actually applied mains voltage U Q.
  • the measured actual voltage U M rises steeply.
  • the actual voltage U M corresponds, for example, to the effective voltage across a winding.
  • the motor current I also rises steeply as the starting current. If the motor current I has a limit value I
  • the setpoint voltage U s is set to a value U by the control device s *, increased to ensure sufficient starting torque to break free the actuator.
  • this value is U ⁇ -, approximately 1.15 times U S2 -
  • the actual voltage U M and the motor current I continue to rise, the motor current I reaches a maximum and then begins to decrease . This is the case when the actuator is released from the end stop. If the motor current I falls below a predetermined limit value I ', this is an indication that the actuating movement is underway and the motor speed is being driven. 5
  • This limit value I ' is preferably equal to the limit value I yy for the first switching time t and in the example of the figure is also twice the nominal current I.
  • the travel s increases linearly with time.
  • the motor current I begins to rise again due to the increased torque requirement.
  • a current dip in the motor voltage U M is associated with this current rise and is regulated by the control device.
  • the motor current I reaches a limit value I "which indicates that the actuator is starting to jam.
  • the limit value I" preferably also corresponds to the limit values at the preceding switching times t- and t.
  • the control device then increases the target voltage U s to the value U- - ⁇ and the actuator is fixed in the end position with a torque which corresponds to the standstill torque of the motor supplied with an actual voltage U M , which is slightly smaller than the target voltage U c 1.
  • the stationary motor is then switched off at time t 7 .
  • a time window t 1 to t 6 is also set in the control device after the switching command occurring at time t 0 , in which an end of the travel path and thus a exceeding of the limit value I are expected in normal operation.
  • an increase in the target voltage to a value U so at time t is provided, which is greater by a predetermined amount DU ⁇ than the value U ⁇ , the target voltage U ⁇ when reached the end position.
  • U SQ is approximately 1.3 times U ⁇ 2 .
  • a time window for this purpose is t Q - t 2 is set in which an increase in the Soll ⁇ voltage U e to the value U S2 to an increased value U so BE DONE is men when I a given within this time window, the motor current Limit exceeded.
  • the nominal voltage U s is increased from the value U S2 only to the value U s .
  • Short time constants for example, can be used to change the values for the target voltage and to adjust the actual voltage. wise 100 ms. However, larger time constants or a smoothly regulated transition depending on the engine speed are also possible.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)
  • Motor And Converter Starters (AREA)

Abstract

Sur des actionneurs entraînés par moteur utilisés pour actionner un organe de réglage (4) possédant une position de blocage déterminée, par exemple une butée fixe de fin de course, il est nécessaire de veiller à ce que l'organe de réglage, dans sa position de blocage, soit serré avec un couple déterminé. A cet effet, il est prévu dans l'invention d'augmenter le couple maximum disponible au niveau du moteur (2) après le début du déplacement vers une position de blocage. Avec un actionneur équipé d'un moteur électrique, on contrôle, dans un mode d'exécution avantageux du procédé, que la position de blocage est atteinte, en mesurant le courant du moteur, et on augmente le couple en produisant une tension effective appliquée au moteur électrique. Un dispositif pour l'exécution du procédé est également proposé.
PCT/DE1991/000199 1990-03-13 1991-03-06 Procede et dispositif de commande d'un actionneur entraine par moteur WO1991014219A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP4008002.1 1990-03-13
DE19904008002 DE4008002C2 (de) 1990-03-13 1990-03-13 Verfahren und Vorrichtung zur Steuerung eines motorbetriebenen Stellantriebes

Publications (1)

Publication Number Publication Date
WO1991014219A1 true WO1991014219A1 (fr) 1991-09-19

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DE (1) DE4008002C2 (fr)
WO (1) WO1991014219A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994025911A1 (fr) * 1993-04-28 1994-11-10 Siemens Aktiengesellschaft Procede et dispositif permettant de surveiller le mouvement d'ajustement d'un organe de reglage a commande electrique

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19627743A1 (de) * 1996-07-10 1998-01-15 Philips Patentverwaltung Vorrichtung zum linearen Verstellen eines Stellgliedes
DE10003692A1 (de) * 2000-01-28 2001-08-02 Moeller Gmbh Elektrisches Schaltgerät
DE102006059145B4 (de) * 2006-12-14 2016-06-02 Continental Automotive Gmbh Verfahren und Einrichtung zum Ermitteln einer von einem Elektromotor hergeleiteten Antriebskraft
DE102011107686B4 (de) * 2011-07-13 2017-08-17 TA ROLOFF Technischer Apparatebau GmbH Elektrischer Armaturenantrieb mit Rückstelleinrichtung und Armatur
DE102016203755A1 (de) 2016-03-08 2017-09-14 Siemens Aktiengesellschaft Motorstarter und Diagnoseverfahren

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4182979A (en) * 1978-02-03 1980-01-08 Giddings & Lewis, Inc. D-C. electric torquing system
FR2533333A1 (fr) * 1982-09-16 1984-03-23 Bernard Ets L Procede de limitation du couple produit par un dispositif moteur et destine a entrainer en mouvement un dispositif utilisateur et systeme pour la mise en oeuvre de ce procede
DE3345528A1 (de) * 1983-12-13 1985-06-20 Jaroslav Dipl.-Ing. 1000 Berlin Tecinsky Verfahren und vorrichtung zur steuerung von motorbetriebenen hochdruckventilen
EP0193776A1 (fr) * 1985-02-28 1986-09-10 Siemens Aktiengesellschaft Valve pour arrêter un écoulement
US4844110A (en) * 1988-06-29 1989-07-04 The Phasor Corporation Control system for remotely controlled motor operated valve

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT20962B (de) * 1904-02-27 1905-08-10 Wilhelm Dieckmann Verstellbares Gerüst.
JPS5280517A (en) * 1975-12-26 1977-07-06 Hitachi Ltd Valve opening and closing mechanism for vacuum exhaust device
WO1983001837A1 (fr) * 1981-11-17 1983-05-26 Brigham & Womens Hospital Anticorps monoclonaux contre le schistosome

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4182979A (en) * 1978-02-03 1980-01-08 Giddings & Lewis, Inc. D-C. electric torquing system
FR2533333A1 (fr) * 1982-09-16 1984-03-23 Bernard Ets L Procede de limitation du couple produit par un dispositif moteur et destine a entrainer en mouvement un dispositif utilisateur et systeme pour la mise en oeuvre de ce procede
DE3345528A1 (de) * 1983-12-13 1985-06-20 Jaroslav Dipl.-Ing. 1000 Berlin Tecinsky Verfahren und vorrichtung zur steuerung von motorbetriebenen hochdruckventilen
EP0193776A1 (fr) * 1985-02-28 1986-09-10 Siemens Aktiengesellschaft Valve pour arrêter un écoulement
US4844110A (en) * 1988-06-29 1989-07-04 The Phasor Corporation Control system for remotely controlled motor operated valve

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994025911A1 (fr) * 1993-04-28 1994-11-10 Siemens Aktiengesellschaft Procede et dispositif permettant de surveiller le mouvement d'ajustement d'un organe de reglage a commande electrique

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Publication number Publication date
DE4008002A1 (de) 1991-09-19
DE4008002C2 (de) 1994-04-28

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