WO2010124600A1

WO2010124600A1 - Servo motor operated valve and control method thereof

Info

Publication number: WO2010124600A1
Application number: PCT/CN2010/072179
Authority: WO
Inventors: 郝双晖; 郝明晖
Original assignee: 浙江关西电机有限公司
Priority date: 2009-04-30
Filing date: 2010-04-26
Publication date: 2010-11-04
Also published as: CN101876381B; CN101876381A

Abstract

A servo motor operated valve and a control method thereof are disclosed. The servo motor operated valve includes a valve body (1) and a valve rod (2) mounted in the valve body (1), the output end of a servo motor (10) is connected with the input end (24) of a reducer (24, 25) through a coupling (3), and the output end (25) of the reducer (24, 25) is connected with the valve rod (2), the valve rod (2) is connected with a valve opening (5) to control the opening of the valve opening (5). A position detection means (7) is provided on the shaft of the servo motor (10) and inputs a control signal to a servo controller (9) to control the servo motor (10) to drive the reducer (24, 25) and control the opening of the valve opening (5) through the valve rod (2). The control method includes the steps of setting the opening of the valve, calculating the angle of the shaft of the motor, detecting the angle of the shaft of the motor, et al. The invention has high control precision and high reliability, and can control torque and rotation speed.

Description

Servo electric valve and control method thereof

The invention relates to an electric valve and a control method thereof, in particular to a servo electric valve for controlling a valve opening degree by a servo motor and a control method thereof. Background technique

Electric valves have a wide range of applications in the chemical, steel, petroleum and other fields. The current motors for electric valves include asynchronous motors, stepping motors, and inverter drive motors. The motor is connected to the valve stem through a reducer to open and close the control valve.

The asynchronous motor is generally used together with the limiter to open or cut off the control circuit of the motor through the limit signal of the limiter. This method can only control the valve to be fully open or fully closed, and the limiter is easily damaged. The torque of the asynchronous motor cannot be controlled, and the torque overrun may cause damage to the valve or equipment. The application number is 200820031710.0, and the valve torque control electric device is designed for the problem of uncontrolled rotor torque.

The stepping motor does not need a limiter when driving the valve. The controller can control the opening degree of the valve by giving the stepping motor pulse signal, and can adjust the opening degree of the valve. However, the stepping motor is open-loop control, the control precision is low, and it is easy to lose the step, resulting in control failure. The application number is 200720125094.0, and an improved stepper motor driven electric valve is proposed. Although some improvements have been made, the stepping motor is still used, and the control mode is still open loop with low precision.

The variable frequency electric valve adopts the inverter to drive the asynchronous motor, and the position sensor is installed on the valve, and the opening degree signal of the return valve is formed to form a closed loop control, and the control precision is high. The application number is 200710072541, and a variable frequency electric valve is proposed. . Inverter type electric valves require an encoder, and the cost of the encoder is high, especially in the case of harsh environments (such as dust, large wind and large vibration), the encoder required is more expensive, and it is compatible with the AC servo system. Compared, the inverter control has slow response and low precision.

There are also electric valves driven by permanent magnet brushless DC motors. Like variable-frequency electric valves, encoders are required for closed-loop control. The application No. 200710036766 proposes an improved encoder for the electric valve, but the structure is complicated, the cost is high, and the photoelectric encoder has high requirements on the use environment. Summary of the invention

The technical problem to be solved by the present invention is to provide a servo electric valve and a control method thereof according to the deficiencies of the prior art, which have high control precision, high reliability, fast response and low cost.

The technical problem to be solved by the present invention is achieved by the following technical solutions:

A servo electric valve comprises a valve body, wherein a valve stem is arranged in the valve body, and an output of the servo motor is connected to the input of the reducer through a coupling, the output of the reducer is connected with the valve stem, the valve stem is connected with the valve hole and the valve is controlled The opening degree of the hole is characterized in that the motor shaft of the servo motor is provided with a position detecting device, and the position detecting device inputs a signal to the servo controller to control the servo motor to drive the speed reducer and control the opening degree of the valve hole through the valve stem.

In another embodiment, the valve stem may also be provided with a position detecting device, and the position detecting device inputs a signal to the servo controller, and the servo controller controls the servo motor to drive the speed reducer and controls the opening of the valve hole through the valve stem. .

In still another embodiment, the valve stem is further provided with a transmission mechanism, the active component of the transmission mechanism is disposed on the valve stem, and the position detecting device is disposed on the rotating shaft of the driven member, and the position detecting device inputs a signal to the servo The controller, the servo controller controls the servo motor to drive the speed reducer and controls the opening of the valve hole through the valve stem. The speed reducer is a worm gear reducer or a spur gear reducer or a bevel gear reducer or a planetary gear reducer or a combination thereof.

The servo motor is preferably an AC servo motor.

The position detecting device, the servo controller and the servo motor can be integrally provided.

The servo controller includes a data processing unit, a motor driving unit and a current sensor, and the data processing unit receives the input command signal, the motor input current signal collected by the current sensor, and the information representing the motor angle output by the position detecting device, and the data Processing, outputting a control signal to the motor driving unit, the motor driving unit outputting a suitable voltage to the servo motor according to the control signal, thereby achieving precise control of the servo motor.

The data processing unit includes a mechanical loop control subunit, a current loop control subunit, a PWM control signal generating subunit, and a sensor signal processing subunit;

The sensor signal processing subunit receives information representing a motor angle output by the position detecting device, and transmits an angle of the motor to the mechanical ring control subunit; the sensor signal processing subunit further receives the current sensor The detected current signal is sampled by A/D and output to the current loop control subunit;

The mechanical ring control subunit obtains a current command through operation according to the received command signal and the rotation angle of the motor shaft, and outputs the current command to the current loop control subunit;

The current loop control subunit obtains a duty control signal of the three-phase voltage according to the current signal output by the current sensor of the received current command, and outputs the duty control signal to the PWM control signal generating subunit;

The PWM control signal generating sub-unit generates six PWM signals having a certain order according to the received duty control signal of the three-phase voltage, and respectively acts on the motor driving unit.

The motor drive unit comprises six power switch tubes, the switch tubes are connected in series in two groups, three groups are connected in parallel between the DC power supply lines, and the control end of each switch tube is output by the PWM control signal generating sub-unit. The control of the PWM signal, the two switching tubes in each group are time-divisionally turned on.

Preferably, the data processing unit is an MCU, and the motor driving unit is an IPM module.

The position detecting device comprises a magnetic steel ring, a magnetic conductive ring and a magnetic induction element, wherein the magnetic conductive ring is composed of two or more segments of the same radius and the same center, and the adjacent two arc segments have a slit. The magnetic induction element is disposed in the gap, and when the magnetic steel ring and the magnetic flux ring rotate relative to each other, the magnetic induction element converts the sensed magnetic signal into a voltage signal, and transmits the voltage signal to the corresponding signal processing device. .

The magnetic conductive ring is composed of two arc segments of the same radius and the same center, which are respectively a quarter arc segment and a 3/4 arc segment, and the corresponding magnetic induction elements are two; or, the magnetic conductive ring is The three segments are formed by arcs of the same radius, respectively, which are 1/3 arc segments, and the corresponding magnetic induction elements are three; or, the magnetic conductive ring is composed of four segments of the same radius, which are respectively 1/4 arc segments. The corresponding magnetic induction elements are four; or, the magnetic conductive ring is composed of six segments of the same radius, which are respectively 1/6 arc segments, and the corresponding magnetic induction elements are six.

The end of the arc of the magnetically permeable ring may be chamfered to form a chamfer formed by cutting axially or radially or simultaneously in the axial direction and in the radial direction.

Further, the position detecting device further includes a skeleton for fixing the magnetic conductive ring; the magnetic conductive ring is disposed on the skeleton forming mold, and is fixed to the skeleton when the skeleton is integrally formed.

The sensor signal processing subunit or the position detecting device includes a signal processing circuit of the position detecting device, and is configured to obtain a rotation angle of the motor shaft according to the voltage signal of the position detecting device, and specifically includes:

The A/D conversion circuit performs A/D conversion on the voltage signal transmitted from the magnetic induction element in the position detecting device, and the analog signal is Convert to a digital signal;

a synthesizing circuit that processes a plurality of A/D-converted voltage signals sent from the position detecting device to obtain a reference signal

D ;

An angle obtaining circuit, according to the reference signal D, selecting an angle opposite to the standard angle table as an offset angle;

A storage circuit for storing a standard angle table.

Further, the position detecting device includes a rotor and a stator that surrounds the rotor, the rotor including a first magnetic steel ring and a second magnetic steel ring;

Wherein the first magnetic steel ring and the second magnetic steel ring are respectively fixed on the motor shaft;

On the stator, corresponding to the second magnetic steel ring, n uniformly distributed magnetic sensing elements are disposed on the same circumference centered on the center of the second magnetic steel ring, wherein n=l, 2...! 1. The magnetic pole magnetization sequence of the second magnetic steel ring causes the output of the n magnetic induction elements to be in a Gray code format, and only one bit of the adjacent two outputs changes;

On the stator, corresponding to the first magnetic steel ring, there are m magnetic induction elements distributed at an angle on the same circumference centered on the center of the first magnetic steel ring, wherein m is an integer multiple of 2 or 3, The total magnetic pole of the first magnetic steel ring is equal to the total number of magnetic poles of the second magnetic steel ring, and the polarities of the adjacent two poles are opposite;

The magnetic sensing element converts the sensed magnetic signal into a voltage signal when the rotor is relatively rotationally moved relative to the stator, and outputs the voltage signal to the signal processing device.

Specifically, the angle between the adjacent two magnetic induction elements on the stator corresponding to the first magnetic steel ring, when m is 2 or 4, the included angle is 90° / g _; when m is 3, the The angle is 120° / g _; when m is 6, the angle is 60 ° / g, where g is the total number of magnetic poles of the second magnetic steel ring.

Wherein, the first magnetic steel ring and the second magnetic steel ring are respectively fixed on a rotating shaft, and the first magnetic steel ring is uniformly magnetized into N pairs of magnetic poles, wherein? <=2° and 11=0, 1, 2...! 1, and the polarities of the adjacent two poles are opposite; the total number of magnetic poles of the second magnetic steel ring is N, and the magnetic sequence is determined according to a specific magnetic sequence algorithm;

On the stator, corresponding to the first magnetic steel ring, there are m magnetic induction elements distributed at an angle on the same circumference centered on the center of the first magnetic steel ring, wherein m is an integer multiple of 2 or 3; The second magnetic steel ring is provided with n magnetic induction elements distributed at an angle on the same circumference centered on the center of the second magnetic steel ring, wherein n=0, 1,

The angle between adjacent two magnetic sensing elements on the stator corresponding to the second magnetic steel ring is 360° /N.

Specifically, on the stator, corresponding to an angle between two adjacent magnetic induction elements of the first magnetic steel ring, when m is 2 or 4, an angle between each adjacent two magnetic induction elements is 90° /N When m is 3, the angle between each adjacent two magnetic induction elements is 120° / N; when m is 6, the angle between each adjacent two magnetic induction elements is 60 ° /N.

The magnetic sensing element is directly attached to the inner surface of the stator.

The position detecting device further comprises two magnetic conductive rings, each of the magnetic conductive rings is composed of a plurality of arcs of the same center and the same radius, and the adjacent two arc segments have a gap corresponding to the two magnetic steels. The magnetic sensing elements of the ring are respectively disposed within the gap.

The arcuate end of the magnetically permeable ring may be provided with a chamfer, which is a chamfer formed by cutting axially or radially or simultaneously in the axial direction and in the radial direction. The magnetic sensing element is a Hall sensing element.

The A/D conversion circuit performs A/D conversion on the voltage signal sent from the position detecting device to convert the analog signal into a digital signal;

a relative offset angle calculating circuit, configured to calculate a relative offset of the first voltage signal sent by the magnetic sensing element corresponding to the first magnetic steel ring in the position detecting device during the signal period;

An absolute offset calculation circuit determines, by calculation, an absolute offset of a first position of a signal period at which the first voltage signal is located, according to a second voltage signal transmitted from a magnetic induction element corresponding to the second magnetic steel ring in the position detecting device ;

An angle synthesis and output module, configured to add the relative offset and the absolute offset to synthesize a rotation angle ^θ represented by the first voltage signal at the moment;

A storage module for storing data.

The position detecting device further includes a signal amplifying circuit for amplifying the voltage signal from the magnetoelectric sensor before the A/D converting circuit performs A/D conversion.

The relative offset angle calculation circuit includes a first synthesis circuit and a first angle acquisition circuit, and the first synthesis circuit processes the A/D-converted voltage signals sent by the position detection device to obtain a reference signal. D. The first angle acquiring circuit selects an angle opposite to the first standard angle table as an offset angle according to the reference signal D.

The relative offset angle calculation circuit or before the synthesis circuit further includes a temperature compensation circuit for eliminating the influence of temperature on the voltage signal transmitted from the magneto-electric sensor.

The output of the synthesis circuit or the first synthesis circuit further includes a signal R;

The temperature compensation unit includes a coefficient aligner and a multiplier, and the signal of the coefficient aligner to the output of the synthesis module

R and the signal R in the standard state corresponding to the signal. Comparing to obtain an output signal K; the multiplier is a plurality, and each of the multipliers outputs a voltage signal that is A/D converted from the position detecting device and an output signal K of the coefficient correction module. Multiply, and the multiplied result is output to the first synthesizing circuit.

The absolute offset calculation circuit includes a second synthesis circuit and a second angle acquisition circuit, and the second synthesis circuit is configured to synthesize a second voltage signal sent by the position detecting device corresponding to the second magnetic steel ring. Obtaining a signal E; the second angle obtaining circuit selects an angle opposite to the signal in the second standard angle table as the absolute offset of the first position of the signal period in which the first voltage signal is located.

The invention also provides a control method of a servo electric valve, the method comprising the following steps:

Step 1: Set the valve opening value of the electric valve, and pre-store the value in the MCU of the servo controller;

Step 2: Calculate the displacement of the valve stem according to the opening value of the valve of the electric valve, and the servo controller calculates the driving angle of the rotating shaft according to the transmission ratio of the reducer;

Step 3: Detect the actual angle of the motor shaft, control the driving angle of the servo motor to achieve the pre-stored value, and realize the valve opening control of the electric valve.

The specific steps detected in the step 3 are: the servo controller reads the voltage signal of the position detecting device every other fixed period, and converts the voltage signal into an angle of the motor shaft through an angle solving algorithm. position.

The present invention also provides another method of controlling a servo electric valve, the method comprising the following steps:

Step 1: Detect the angular position of the valve stem, transmit the induced voltage signal to the MCU of the servo controller, and the servo controller calculates the angular position information of the valve stem; Step 2: Detect the angular position of the servo motor shaft, and transmit the induced voltage signal to the MCU of the servo controller. The servo controller calculates the angular position information of the rotating shaft.

Step 3: The MCU receives the voltage signal of the position detecting device and the motor three-phase current signal induced by the current sensor, and runs the angle solving algorithm and performs corresponding control calculation, calculates the PWM signal to the motor control module, and controls the motor control module to output the three-phase voltage. The duty cycle, the motor control module accepts the control of the MCU, outputs the three-phase voltage to the servo motor, drives the servo motor to move, and realizes the valve opening control of the electric valve.

Optionally, the specific method of step 1 includes disposing a position detecting device on the valve stem, and directly detecting, calculating, and obtaining angular position information of the valve stem by the position detecting device.

Optionally, the specific method of step 1 includes: providing a transmission mechanism on the valve stem, the active component of the transmission mechanism is disposed on the valve stem, and the position detecting device is disposed on the rotating shaft of the driven component, and the transmission ratio is The setting makes the displacement of the transmission mechanism one-to-one corresponding to the opening degree of the valve, and the displacement of the transmission mechanism is detected by the position detecting device, and the opening degree of the valve is directly obtained.

The size of the transmission ratio is set such that the valve rotates from fully open to fully closed or from fully closed to fully open, and the rotation angle of the driven member in the transmission mechanism is less than 360°.

Compared with the prior art, the beneficial effects of the invention are:

1. The valve opening can be arbitrarily controlled as needed, and the control accuracy is very high. The AC servo system has high control precision, and the position detecting device senses the angular position to form a closed loop control, so the control precision of the entire electric valve is high.

2. Low cost. The position detector is replaced by a position detector that is very low cost and much lower than conventional encoders.

3. High reliability. The position detection device is a non-contact sensor that is dust-proof and vibration-resistant, and works well even in harsh environments. At present, the permanent magnet material technology has been greatly developed, and the magnetic steel in the position detecting device does not demagnetize under normal use environment. Position detection devices are installed on the valve stem and the motor shaft, which improves control accuracy and enhances reliability.

4. Can control torque and speed. The AC servo system has a current sensor and a position sensor. The torque and speed can be controlled as needed to avoid valve or equipment damage caused by excessive torque or speed when the valve is opened and closed.

5. Fast response. This is primarily determined by the fast response of the AC servo system to meet the needs of motorized valves that require fast response.

6. Automatic control of the valve is possible. There is an MCU in the servo controller, which can easily communicate with other devices, receive or issue control commands, and realize automatic control of the valve.

The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. DRAWINGS

1 is a schematic view showing the overall structure of a first embodiment of a servo electric valve according to the present invention;

2 is a schematic cross-sectional view of a servo electric valve of the present invention;

3 is a schematic diagram of a control structure of a servo electric valve according to the present invention;

4 is a schematic view showing a first embodiment of a control structure of a servo electric valve according to the present invention;

Figure 5 is a mechanical ring diagram of the control system of the servo electric valve;

6 is a schematic diagram of a second embodiment of a control structure of a servo electric valve according to the present invention;

7 is a schematic view showing the overall structure of a second embodiment of a servo electric valve according to the present invention;

Figure 8 is a schematic view showing the control structure of the second embodiment of the servo electric valve of the present invention;

9 is a schematic overall structural view of a third embodiment of a servo electric valve according to the present invention; Figure 10 is a schematic view showing the structure of the unipolar position detecting device mounted on the shaft;

Figure 11 is an exploded perspective view of the unipolar position detecting device;

12 to 13 are perspective views of the single pole position detecting device mounted on the shaft;

Figure 14 to Figure 17 are chamfered design drawings of the magnetically permeable ring;

18 is a schematic structural view of Embodiment 1 of a unipolar position detecting device;

Figure 19 is a block diagram of a signal processing apparatus of the first embodiment of the unipolar position detecting device;

20 is a schematic structural view of a second embodiment of a unipolar position detecting device;

Figure 21 is a block diagram of a signal processing apparatus of the second embodiment of the unipolar position detecting device;

Figure 22 is a schematic structural view of a third embodiment of the unipolar position detecting device;

Figure 23 is a block diagram of a signal processing apparatus of a third embodiment of the unipolar position detecting device;

Figure 24 is a schematic structural view of a fourth embodiment of the unipolar position detecting device;

Figure 25 is a block diagram of a signal processing apparatus of a fourth embodiment of the unipolar position detecting device;

Figure 26 is an exploded perspective view of the multi-pole position detecting device;

Figure 27 is a schematic view showing the structure of combining the components of the position detecting device provided with two magnetically conductive rings;

28 is a flow chart showing a signal processing method of the multi-pole position detecting device arranged in sequence;

29 is a second flowchart of a signal processing method of the position detecting device sequentially disposed;

Figure 30 is a third flowchart of the signal processing method of the position detecting device arranged in sequence;

Figure 31 is a fourth flowchart of the signal processing method of the position detecting device arranged in sequence;

Figure 32 is a structural view of a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element of the first embodiment of the position detecting device provided in sequence; Figure 33 is a first magnetic steel ring charge of the first embodiment of the position detecting device provided in sequence. Magnetic magnetic sequence and positional relationship with magnetic sensing elements;

Figure 34 is a flow chart of the algorithm of the magnetic steel ring 303;

Figure 35 is a block diagram of a signal processing device of the first embodiment of the position detecting device sequentially disposed;

Figure 36 is a schematic view showing the structure of a first magnetic steel ring Hall element, a magnetic conductive ring, and a magnetic induction element of the second embodiment of the position detecting device of the sequential arrangement;

Figure 37 is a view showing the positional relationship between the magnetic flux of the first magnetic steel ring and the position of the magnetic induction element in the second embodiment of the position detecting device of the sequential setting mode;

Figure 38 is a block diagram of a signal processing device of a second embodiment of the position detecting device of the sequential setting mode;

Figure 39 is a schematic view showing the structure of a first magnetic steel ring Hall element, a magnetic conductive ring, and a magnetic induction element of the third embodiment of the position detecting device of the sequential arrangement;

Figure 40 is a view showing the positional relationship between the magnetic flux of the first magnetic steel ring and the position of the magnetic induction element in the third embodiment of the position detecting device of the sequential setting mode;

Figure 41 is a block diagram of a signal processing device of a third embodiment of the position detecting device of the sequential setting mode;

Figure 42 is a schematic view showing the structure of a first magnetic steel ring Hall element, a magnetic conductive ring, and a magnetic induction element of the fourth embodiment of the position detecting device;

Figure 43 is a view showing the positional relationship between the magnetic flux of the first magnetic steel ring and the position of the magnetic induction element of the fourth embodiment of the position detecting device;

Figure 44 is a block diagram of a signal processing device of a fourth embodiment of the position detecting device sequentially disposed;

Figure 45 is an exploded perspective view showing the structure of a position detecting device in which a magnetic sensing element is directly attached to a position detecting device; 46 to 49 are schematic structural views of the magnetic induction element corresponding to the first magnetic steel ring directly attached to the position detecting device;

Figure 50 is a first embodiment of the position detecting device uniformly disposed corresponding to the code obtained when the second magnetic steel ring is provided with three magnetic sensing elements;

Figure 51 is a first embodiment of the position detecting device uniformly disposed corresponding to the magnetizing sequence of the second magnetic steel ring when the second magnetic steel ring is provided with three magnetic sensing elements;

Figure 52 is a structural view of a second magnetic steel ring, a magnetic flux ring, and a magnetic induction element of the first embodiment of the position detecting device which is uniformly disposed. Figure 53 is a first magnetic ring uniform magnetization of the first embodiment of the position detecting device which is uniformly disposed. A layout diagram corresponding to two magnetic induction elements for 6 pairs of poles;

Figure 54 is a structural view of a first magnetic steel ring, a magnetic flux ring and a magnetic induction element of the first embodiment of the position detecting device which is uniformly disposed; Figure 55 is a first magnetic steel ring of the second embodiment of the position detecting device which is uniformly disposed, FIG. 56 is a structural view of a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element of a third embodiment of the position detecting device that is uniformly disposed; FIG. 57 is a configuration of a position detecting device that is uniformly disposed. 4 is a structural view of a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element; and FIG. 58 is an exploded perspective view showing another structure of the first to fourth embodiments of the position detecting device that is uniformly disposed; FIG. 59 is another Schematic diagram of a type of speed reduction device;

Figure 60 is a schematic structural view of another speed reducing device;

Figure 61 is an exploded view of the all-in-one. Detailed ways

Embodiment 1

1 is a schematic view showing the overall structure of a first embodiment of a servo electric valve according to the present invention. As shown in Fig. 1, the present invention provides a servo electric valve including a valve body 1, and two ends of the valve body 1 are an outlet chamber 41 and an inlet chamber 40, respectively. The valve body 1 is provided with a valve stem 2, and the output of the servo motor 10 is connected to the reducer input end worm 24 via a coupling 3, the output end of the reducer turbine 25 is connected to the valve stem 2, and the valve stem 2 is connected to the valve hole 5. And controlling the opening degree of the valve hole 5. The motor shaft of the servo motor 10 is provided with a position detecting device 7, and the position detecting device 7 inputs a signal to the servo controller. 9 controls the servo motor. 10 drives the speed reducer and controls the opening degree of the valve hole 5 through the valve stem 2.

As shown in FIG. 1 in conjunction with FIG. 2, the servo electric valve of the present invention can control the opening degree of the valve hole 5 by both manual and electric methods, because in some special cases, such as the failure of the electric control valve hole 5, a manual control valve is required. Hole 5. When the hand wheel 30 is rotated, the worm 24 is rotated by the coupling 6, and the worm 24 drives the worm wheel 25 to rotate, and the worm wheel 25 is restricted from moving axially and can only rotate. The upper end of the valve stem 24 is threaded, and the worm wheel 25 is threadedly connected to the valve stem 2, and the valve stem 2 is restricted from rotating and can only move up and down in the axial direction. When the worm wheel 25 rotates, the valve stem 2 is raised or lowered by the action of the thread, thereby opening or closing the valve hole 5. Another type of electric control is to control the operation of the servo motor 10 through the servo controller 9. The servo motor 10 rotates the worm 24 through the coupling 3, and the worm 24 drives the worm wheel 25 to rotate. As with the manual control, when the worm wheel 25 rotates, the valve stem 2 is raised or lowered by the action of the thread, thereby opening or closing the valve hole 5. A position detecting device 7 is mounted on the motor shaft for detecting the angular position of the motor shaft, and is transmitted to the servo controller 9 through the signal line 8, and the servo controller 9 performs closed-loop control on the servo motor 10 through the control line 31, thereby precisely controlling the valve. The opening of the hole 5.

Fig. 3 is a schematic view showing the control structure of the servo electric valve of the present invention. As shown in Fig. 3, the control system of the electric valve includes a servo controller 9, a servo motor 10, and a position detecting device 7.

The servo controller 9 includes a data processing unit, a motor driving unit and a current sensor. The data processing unit receives the input command signal, the motor input current signal collected by the current sensor, and the information representing the motor angle output by the position detecting device 7 After the data processing, the control signal is output to the motor driving unit, and the motor driving unit outputs an appropriate voltage to the servo motor 10 according to the control signal, thereby achieving precise control of the servo motor 10.

The sensor signal processing subunit receives information representative of the motor angle output by the position detecting device, and transmits the angle of the motor to the mechanical ring control subunit; the sensor signal processing subunit further receives the detected current of the current sensor The signal is output to the current loop control subunit after being sampled by A/D;

The current loop control sub-unit obtains a duty control signal of the three-phase voltage according to the current signal output by the current sensor of the received current command, and outputs the duty control signal to the PWM control signal generating sub-unit;

The motor drive unit comprises six power switch tubes, the switch tubes are connected in series in two groups, three groups are connected in parallel between the DC power supply lines, and the control end of each switch tube is subjected to a PWM control signal to generate a PWM signal output by the subunit. Control, the two switching tubes in each group are time-divisionally turned on. The motor drive unit generates a three-phase voltage to the servo motor 10 according to the PWM signal, and controls the servo motor 10 to operate. The servo motor 10 drives the worm 24 to rotate by the coupling 3, so that the valve rod 2 is driven up and down by the turbine 25 to control the opening of the valve hole 5.

4 is a schematic view showing a first embodiment of a control structure of a servo electric valve according to the present invention. As shown in Figure 4, the data processing unit is an MCU, and the motor drive unit is an IPM module. In this embodiment, the voltage signal is output from the position detecting means 7, so that an angle calculating unit is provided in the data processing unit of the servo controller 9, and the voltage signal outputted from the position detecting means 7 is converted into angle information.

Specifically, the MCU calculates the displacement of the valve stem ascending or descending according to the set opening degree of the valve, and then calculates the angular position of the worm wheel shaft by the pitch, and then calculates the angular position of the motor shaft through the gear ratio of the reducer. , that is, the angle command, controls the opening of the valve by controlling the rotation of the motor to a specified angle.

Combined with Figure 5, the mechanical loop obtains the angular feedback from the angle command and the angle solving algorithm. After the control calculation, the current command is calculated and transmitted to the current loop. The mechanical ring includes the worm gear position ring, the motor position ring and the speed ring, the worm wheel position ring output motor angle command, the motor position ring output speed command, and the speed loop output current command.

The worm wheel angle command is calculated according to the set valve opening degree. The position detecting device 7 senses the angular position of the motor shaft, and transmits the induced voltage signal to the MCU, and obtains a digital signal containing the angle information through A/D sampling, and transmits the digital signal to the CPU in the MCU, and the CPU runs the angle solving algorithm to obtain the motor angle. Feedback. The motor angle command subtracts the motor angle feedback to obtain the motor angle error. PID control is performed on the motor angle by the PID controller to obtain the speed command. The PID control of the motor angle is called the motor position loop, and the motor position loop outputs the speed command, which is transmitted to Speed loop.

The motor angle feedback is obtained by the differentiator, the speed command is subtracted from the speed feedback, and the speed error is obtained. The PID controller controls the speed to obtain the current command K. The PID control of speed is called the speed loop. The current command is the output of the speed loop, also the output of the mechanical loop, and the mechanical loop outputs the current command to the current loop.

Fig. 6 is a schematic view showing a second embodiment of the control structure of the servo electric valve of the present invention. As shown in FIG. 6, the control structure shown in FIG. 4 is different in that, in this embodiment, the position detecting device 7 is integrated with an angle calculating unit, so that the voltage signal is converted into an angle in the position detecting device 7. signal. The direct output angle signal is input into the mechanical ring subunit through the synchronization port communication.

The control method of the servo electric valve of the present invention will be described in conjunction with the control structure diagram of the servo electric valve described above. Set electric valve The door opening value is pre-stored in the MCU of the servo controller; the displacement of the valve stem is calculated according to the opening value of the valve of the electric valve, and the servo controller calculates the motor shaft according to the transmission ratio of the reducer. Driving angle; the servo controller reads the voltage signal of the position detecting device every other fixed period, and converts the voltage signal into an angular position of the motor shaft through an angle solving algorithm. The actual angle of the motor shaft is detected, and the driving angle of the servo motor is controlled to reach the pre-stored value to realize the valve opening degree control of the electric valve.

Embodiment 2

Fig. 7 is a schematic view showing the overall structure of a second embodiment of the servo electric valve of the present invention. As shown in Fig. 7, a position detecting device 7 is also provided on the turbine shaft 32. The position detecting device 7 detects the angle information of the valve stem 2, inputs an input signal to the servo controller 9, and the servo controller 9 controls the servo motor 10 to drive the speed reducer. The opening of the valve hole 5 is controlled by the valve stem 2.

Fig. 8 is a schematic view showing the control structure of the second embodiment of the servo electric valve of the present invention. As shown in FIG. 8, the difference from the first embodiment is that a position detecting device 7 is respectively mounted on the worm 2 and the motor shaft for detecting the angular position of the worm 2 and the angular position of the motor shaft, respectively, and transmitting the same to the servo. The controller 9, the servo controller 9 performs closed-loop control of the worm and the servo motor 10, thereby controlling the opening degree of the valve.

The control method of the second embodiment of the servo electric valve of the present invention is as follows: a position detecting device is arranged on the valve stem, and the position detecting device directly detects, calculates and obtains the angular position information of the valve stem, and transmits the induced voltage signal to the servo controller. The MCU, the servo controller is calculated to obtain the angular position information of the valve stem; the angular position of the servo motor shaft is detected, and the induced voltage signal is transmitted to the MCU of the servo controller, and the servo controller is calculated to obtain the angular position information of the motor shaft. The MCU receives the voltage signal of the position detecting device and the motor three-phase current signal induced by the current sensor, and runs the angle solving algorithm and performs corresponding control calculation, calculates the PWM signal to the motor control module, and controls the output of the three-phase voltage of the motor control module. Air ratio, the motor control module accepts the control of the MCU, outputs the three-phase voltage to the servo motor, drives the servo motor to move, and realizes the valve opening control of the electric valve.

Embodiment 3

Fig. 9 is a schematic view showing the overall structure of a third embodiment of the servo electric valve of the present invention. As shown in FIG. 9, the difference from the second embodiment is that a transmission mechanism is further disposed on the valve stem 2, and the active member of the transmission mechanism is disposed on the valve stem 2, and the position detecting device is disposed on the rotating shaft of the driven member. 7. In this embodiment, the active member of the transmission mechanism is a gear 43 and the driven member is a gear 44, that is, a gear transmission mechanism. The gear 44 is disposed on the gear shaft 42. The position detecting device 7 inputs a signal to the servo controller 9, and the servo controller 9 controls the servo motor 10 to drive the speed reducer and control the opening degree of the valve hole 5 through the valve stem 2.

As shown in Fig. 2, when the valve stem 2 is at the bottom, the valve hole 5 is blocked, and the liquid inlet chamber 40 and the liquid outlet chamber 41 are not connected, so that the valve is closed. When the valve stem 2 moves upward from the bottom, the valve hole 5 is gradually opened, and the inlet chamber and the outlet chamber are connected to realize the opening of the valve. The function of the sealing packing 36 is to prevent the liquid in the valve body 1 from flowing out of the valve cover 33.

The control method of the third embodiment of the servo electric valve of the present invention is as follows: a transmission mechanism is arranged on the valve stem, and the active member of the transmission mechanism is disposed on the valve stem, and the position detecting device is arranged on the rotating shaft of the driven member, and the transmission ratio is adopted. The setting makes the displacement of the transmission mechanism one-to-one corresponding to the opening degree of the valve, and the position detecting device detects the displacement of the transmission mechanism, and directly obtains the opening degree of the valve. Among them, the setting of the transmission ratio makes the valve from full open to fully closed or from fully closed to fully open, and the rotation angle of the driven shaft of the transmission mechanism is less than 360°; detecting the angular position of the servo motor shaft will induce The voltage signal is transmitted to the MCU of the servo controller, and the servo controller is calculated to obtain the angular position information of the motor shaft; the MCU receives the voltage signal of the position detecting device and the motor three-phase current signal induced by the current sensor, and runs the angle solving algorithm and performs Corresponding control calculation, calculate PWM signal to motor control module, control motor control module output three-phase voltage duty cycle, motor control module accept MCU control, output three-phase voltage to servo motor, drive servo motor movement, realize electric valve Valve opening control. The position detecting device of the present invention is provided with a magnetic steel ring and a magnetic conductive ring, and is called a unipolar position detecting device. However, in the position detecting device of the present invention, a plurality of magnetic steel rings and a corresponding plurality of magnetic conductive rings may be provided, which are referred to as multi-pole position detecting devices. Regardless of the single-stage or multi-stage position detecting device, one or more magnetic steel rings are arranged on the rotating shaft, the magnetic steel ring is externally sheathed with a magnetic conductive ring, and the magnetic sensing element is inserted in the magnetic conductive ring. In the gap, in order to facilitate the fixing of the magnetic flux ring, a skeleton is further provided to integrally form the magnetic flux guiding ring and the skeleton. When the rotating shaft rotates, the magnetic induction element senses the rotation input signal of the rotating shaft to the servo controller, and the servo controller controls the servo motor to drive the valve stem to control the opening degree of the valve hole.

Monopole position detecting device

Figure 10 is a schematic view showing the structure of the single-pole position detecting device mounted on the shaft; Figure 11 is an exploded perspective view of the single-pole position detecting device; Figure 12 and Figure 13 are perspective views of the single-pole position detecting device mounted on the shaft; As shown in FIG. 13, the position detecting device of the present invention is composed of a magnetic induction element board 102, a magnetic steel ring 103, a magnetic conductive ring 104, and a bobbin 105; the magnetic induction element board 102 is composed of a PCB board and a magnetic induction element 106, which is on the magnetic induction element board 102. A connector 108 is also provided. The magnetic sensing element 106 typically employs a Hall sensing element.

The magnetic steel ring 103 is mounted on a shaft 107. The shaft 107 is a plurality of rotating shafts including a valve stem, a motor shaft, and a follower shaft of the transmission in various embodiments of the electric valve, and the magnetic flux ring 104 is fixed to the skeleton. At 105, the skeleton 105 is fixed at a suitable position on the motor. When the shaft 107 rotates, the magnetic steel ring 103 rotates to generate a sinusoidal magnetic field, and the magnetic conductive ring 104 acts as a collecting magnet, and the magnetic flux generated by the magnetic steel ring 103 passes through the magnetic conductive ring 104. The magnetic induction element 106 fixed on the PCB converts the magnetic field passing through the magnetic flux ring 104 into a voltage signal and outputs it, and the voltage signal directly enters the main control board chip. The voltage signal is processed by the chip on the main control board, and finally the angular displacement is obtained.

Wherein, in the production of the position detecting device, the magnetic flux ring 104 is disposed on the skeleton forming mold, and is fixed to the skeleton 105 when the skeleton is integrally formed.

14 to 17 illustrate the chamfering design of the magnetic flux guiding ring of the present invention by taking a magnetic conducting ring composed of a 1/4 arc segment and a 3/4 arc segment as an example. As shown in Fig. 14 to Fig. 17, the magnetic flux ring is composed of two or more segments of the same radius and the same center. The magnetic ring shown in Fig. 14 has no chamfer design, and the arc segments shown in Fig. 15 to Fig. 17 The end portion is provided with a chamfer, which is a chamfer formed by cutting in the axial direction (Fig. 15) or the radial direction (Fig. 16) or simultaneously in the axial direction and the radial direction (Fig. 17), the axial section 151, 154, radial section 152, 153. a gap is left between two adjacent arc segments, and a magnetic induction element is placed in the gap. When the magnetic steel ring and the magnetic flux ring rotate relative to each other, the magnetic induction element converts the sensed magnetic signal into a voltage signal, and This voltage signal is transmitted to the corresponding controller.

Β ₌ Φ

According to the magnetic density formula S, it can be known that when ^ is certain, β can be increased by decreasing.

Since the magnetic flux generated by the permanent magnet is constant and large in the magnetically permeable ring, the enthalpy is relatively small, so that the heat generation due to the alternating magnetic field can be reduced. By reducing the end area of the magnetic flux ring, the magnetic field strength of the end portion can be increased, so that the output signal of the magnetic induction element is enhanced.

The present invention also provides a signal processing apparatus based on the position detecting apparatus of the above structure, comprising: an A/D conversion circuit, a synthesizing module, an angle acquiring module, and a storage module, wherein the A/D converting circuit is magnetically sensed in the position detecting device The voltage signal sent from the component is A/D converted, and the analog signal is converted into a digital signal corresponding to the number of magnetic sensing elements. The module has a plurality of A/D converters for transmitting to each magnetic sensing element. The voltage signal is subjected to A/D conversion; the synthesis module processes the A/D converted plurality of voltage signals to obtain a reference signal D; and the angle acquisition module selects in the angle storage table according to the reference signal 0 An angle opposite thereto is used as an offset angle; the storage module is configured to store data.

Each of the above modules may constitute an MCU. The position detecting device of the present invention and its signal processing device will be described in detail below by way of embodiments. The sensor referred to hereinafter is a magnetic induction element.

Embodiment 1

Two magnetic induction elements are provided in the unipolar position detecting device.

Figure 18 is a schematic view showing the structure of the first embodiment of the unipolar position detecting device. As shown in Fig. 18, the magnetic flux ring is composed of two arc segments of the same radius, which are respectively a quarter arc segment 111 and a 3/4 arc segment 112, and the positions A and B are at an angle of 90 ° and slit. Two magnetic sensing elements 109 and 110 are placed in the slits at A and B, respectively. On the motor shaft, the magnetic flux ring is mounted concentrically with the magnetic steel ring 113.

19 is a block diagram of a signal processing apparatus of the first embodiment of the unipolar position detecting device. The output signals of the magnetic sensing elements H _la and H _2a are connected to the analog input port of the built-in A/D converter of the MCU, and the output signals are obtained after analog-to-digital conversion. The multipliers 20a, 21a, the output signal K of the coefficient aligner 5a are connected to the input terminals of the multipliers 20a, 21a, the output signals of the multipliers 20a, 21a are coupled to the input of the amp 3a, and the synthesizer 3a outputs the signal D and R, the coefficient corrector 5a receives the signals D and R output from the synthesizer 3a, obtains the signal K by calculation, and multiplies the signals of the magnetic induction elements H _la and H _2a by the signal K, thereby performing temperature compensation and eliminating The effect of temperature on the signal. An angle storage table is stored in the memory 40a, and the MCU selects an angle opposite thereto in the angle storage table as the offset angle according to the signal D.

The processing of the signal, that is, the processing principle of the synthesizer 3a on the signal is: comparing the magnitude of the values of the two signals, the signal D having a small value for output, and the structure of the signal D is {the coincidence of the first signal, The coincidence bit of the second signal, the numerical value of the signal of the smaller value}. Taking this embodiment as an example, the description is as follows:

Convention:

When the data X is a signed number, the 0th bit of the data X (the first bit from the left of the binary) is the sign bit, X_0=1 indicates that the data X is negative, and X_0=0 indicates that the data X is positive.

_0 indicates the value bit of the data X (the absolute value of the data), that is, the remaining data bits are removed from the sign bit.

If A_D>=B_D

Otherwise:

D={ A_0 ; B_0 A_D }

R = ² + B ² .

A standard angle table is stored in the storage module in which a series of codes are stored, each code corresponding to an angle. The table is obtained by calibration, and the calibration method is: using the detecting device of the embodiment and a high-precision position sensor, the signals output by the magnetic sensing element in the embodiment and the angle of the high-precision position sensor output are in one-to-one correspondence. In order to establish a relationship between the signal and the angle of the output of a magnetic induction element.

In addition, some data correction tables are also stored in the storage module, and the tables include a correspondence table of the signal D and the signal R _Q , wherein the signal R. For the signal of the signal R in the standard state, through the synthesis module, that is, the signal D obtained by the synthesizer 3a, a signal R _Q can be obtained by looking up the table, and by comparing the signal R _Q with the signal R, such as division, the signal 1 is obtained. ^.

Embodiment 2

In the second embodiment of the unipolar position detecting device, four magnetic sensing elements are provided.

20 is a schematic structural view of a second embodiment of a unipolar position detecting device. As shown in Fig. 20, the position detecting device is different from the position detecting device provided with two magnetic sensing elements in that the magnetic conducting ring is composed of four quarter-arc segments 118, 119, 120 and 121 of the same radius, A, B, C. , D four positions are sequentially separated by 90 °. Four magnetic sensing elements 114, 115, 116 and 117 are respectively placed in the slit A, B, C and D.

Figure 21 is a block diagram of a signal processing apparatus of a second embodiment of the unipolar position detecting device. As shown in FIG. 21, the signal processing apparatus and the processing method are similar to those of the first embodiment, except that since there are four magnetic sensing elements that are 90 degrees apart from each other in the second embodiment, a subtractor is added to the signal processing apparatus. 20b, 21b, that is, the digital difference module, the temperature and zero drift are suppressed by the modules of the subtractors 20b, 21b, thereby improving the data precision, and finally the signals output to the synthesizer are still two, the processing procedure and the method and the first embodiment the same. Therefore, it will not be described here.

Embodiment 3

Figure 22 is a schematic view showing the structure of the third embodiment of the unipolar position detecting device. As shown in FIG. 22, the position detecting device is different from the position detecting device provided with four magnetic sensing elements in that the magnetic conducting ring is composed of three segments of the same radius of 1/3 arc segments 126, 127 and 128, A, B, C. The positions are 120° apart. Three sensors 123, 124, and 125 are placed at slits A, B, and C, respectively.

Figure 23 is a block diagram of a signal processing apparatus of a third embodiment of the unipolar position detecting device. Different from the first embodiment, there are three magnetic induction elements and three signals output to the synthesizer. The synthesizer is different from the first embodiment in processing signals, and the rest is the same as the first embodiment. Here, only how the synthesizer processes the signal is explained.

In the present embodiment, the processing of the signal, that is, the processing principle of the synthesizer 3c for the signal is: first, the coincidence bits of the three signals are judged, and the magnitudes of the values of the signals conforming to the same bit are compared, and the value is small for output. Signal D, the structure of signal D is {the coincidence of the first signal, the coincidence of the second signal, the coincidence of the third signal, the value of the signal of the smaller value}. Take this example as an example:

Convention:

When the data X is a signed number, the 0th bit of the data X (the 1st bit from the left of the binary) is the sign bit, X_0=1 means the data X is negative, and X_0=0 means the data X is positive.

If { A_0; B_0; C_0}=010 and A_D>= C_D

D={ A_0; B_0; C_0 ; C_D }

If { A_0 ; B — 0; C_0} = 010 and A_D < C_D

D={ A—0; B_0; C_0 ; A_D }

If { A_0 ; B_0; C_0}=101 and A_D>= C_D

D= :{ A_0; B_0; C_0 ; C_D }

If { A_0; B_0; C_0}=101 and A_D< C_D

D= :{ A_0; B_0; C_0 ; A_D }

If { A_0; B_0; C_0}=011 and B_D>=C_D

D= :{ A_0; B_0; C_0 ; C_D }

If { A_0; B_0; C_0}=011 and B_D<C_D

D= :{ A_0; B_0; C_0 ; B_D }

If { A_0; B_0; C_0}=100 and B_D>=C_D

D= :{ A_0; B_0; C_0 ; C_D }

If { A_0; B_0; C_0}=100 and B_D<C_D

D= :{ A_0; B_0; C_0 ; B_D }

If { A_0; B_0; C_0}=001 and B_D>=A_D

D= :{ A_0; B_0; C_0 ; A_D } If { A_0; B_0; C_0}=001 and B_D<A_D

D={ A_0; B_0; C_0 ; B_D }

If { A_0; B_0; C_0}=110 and B_D>=A_D

D={ A_0; B_0; C_0 ; A_D }

If { A_0; B_0; C_0}=110 and B_D<A_D

D={ A_0; B_0; C_0 ; B_D }

a = A- Bx cos( ) - Cx cos ( )

^ = 5xsin( ) - Cxsin( )

Embodiment 4

Figure 24 is a schematic view showing the structure of the fourth embodiment of the unipolar position detecting device. As shown in Fig. 24, the magnetic flux ring is composed of six segments of the same radius 1/6 arc segments 136, 137, 138, 139, 140 and 141, and the six positions A, B, C, D, E, F are sequentially spaced apart. At 60°, six sensors 130, 131, 132, 133, 134 and 135 are placed at slits A, B, C, D, E, F, respectively.

Figure 25 is a block diagram showing a signal processing apparatus of a fourth embodiment of the unipolar position detecting device. The difference from the position detecting device provided with three magnetic sensing elements is that there are six magnetic sensing elements, and therefore, subtractors 20d, 21d, 22d are added to the signal processing device, and the temperature is suppressed by the subtractors 20d, 21d, 22d. Zero drift, in order to improve the accuracy of the data, the final output signal to the synthesizer is still three, the processing and method are the same as the position detecting device with three magnetic sensing elements.

Multi-pole position detecting device

Figure 26 is an exploded perspective view of the multi-pole position detecting device. As shown in FIG. 26, the position detecting device includes a rotor and a stator that surrounds the rotor. Specifically, the rotor includes a first magnetic steel ring 302 and a second magnetic steel ring 303, a first magnetic steel ring 302, and a second magnetic The diameter of the steel ring 303 is smaller than the diameter of the magnetic conductive rings 304, 305, so that the magnetic conductive rings 304, 305 are respectively sleeved on the outer side of the first magnetic steel ring 302 and the second magnetic steel ring 303, the first magnetic steel ring 302, the second The magnetic steel ring 303 is fixed on the rotating shaft 301, and the magnetic conductive rings 304, 305 and the first magnetic steel ring 302 and the second magnetic steel ring 303 are relatively rotatable, so that the plurality of sensor elements 307 disposed on the inner surface of the bracket 306 are provided. In the gap of the magnetic steel ring.

Fig. 27 is a structural schematic view showing the components of the position detecting device provided with two magnetic flux guiding rings. As can be seen from Fig. 27, the magnetic steel ring 302 and the magnetic steel ring 303 are arranged in parallel on the shaft 301, and two magnetic sensing elements 308 and 309 are respectively provided corresponding to the magnetic steel ring 302 and the magnetic steel ring 303. For the convenience of the following description, the first magnetic sensing elements, that is, the plurality of magnetic sensing elements corresponding to the magnetic steel ring 302 and the magnetic conductive ring 304 are all represented by the magnetic sensing element 308, and the second magnetic sensing element is the corresponding magnetic steel ring 303 and the guiding A plurality of magnetic sensing elements of the magnetic ring 305 are all represented by magnetic sensing elements 309. For convenience of explanation, the magnetic steel ring 302 is defined as a first magnetic steel ring, the magnetic steel ring 303 is defined as a second magnetic steel ring, and the magnetic conductive ring 304 is defined to correspond to the first magnetic steel ring 302, which will be magnetically guided. The ring 305 is defined to correspond to the second magnet ring 303, and the invention is not limited to the above definitions.

The magnetic flux rings 304 and 305 may also be chamfered, and the structure thereof is the same as that of the single pole position detecting device, and the specific reference is made to Figs. 14 to 17 .

For the multi-pole position detecting device, the arrangement of the magnetic sensing elements and the magnetization of the magnetic steel ring may be different. Sequential setting method

The first magnetic steel ring 302 is sequentially magnetized to N pairs of magnetic poles, where ? <=2° and 11=0, 1, 2...! 1, when N = 2 ⁿ is the preferred embodiment of the invention, and when N 2 ⁿ , the object of the invention can also be achieved. And the polarities of the adjacent two poles are opposite, the total number of magnetic poles of the second magnetic steel ring is N, and the magnetic order is determined by a magnetic order algorithm; on the bracket 306, corresponding to the first magnetic steel ring 302. The magnetic sensing element 308 is disposed at a certain angle on the same circumference centered on the center of the first magnetic steel ring 302, wherein m is an integer multiple of 2 or 3; corresponding to the second magnetic steel ring 303, On the same circumference centered on the center of the second magnetic steel ring 303, there are n magnetic induction elements 309 having an angular distribution of 360° / N, where n = 0, 1, 2...! ι.

The present invention also provides a signal processing apparatus for the above position detecting apparatus, comprising an A/D conversion circuit, a relative offset angle calculation circuit, an absolute offset calculation circuit, an angle synthesis and output module, and a storage module, wherein The A/D conversion circuit performs A/D conversion on the voltage signal sent from the position detecting device, and converts the analog signal into a digital signal; the relative offset angle calculating circuit is configured to calculate a position corresponding to the first magnetic field in the position detecting device a relative offset of the first voltage signal transmitted by the magnetic induction element of the steel ring in the signal period; the absolute offset calculation circuit is sent according to the magnetic induction element corresponding to the second magnetic steel ring in the position detecting device a second voltage signal is determined by calculation to determine an absolute offset of a first position of a signal period at which the first voltage signal is located; the angle synthesis and output module is configured to combine the relative offset and the absolute offset Synthesizing a rotation angle represented by the first voltage signal at the moment; the storage module is configured to store a calibration process And angle data correcting coefficient κ.

Fig. 28 is a flowchart showing a signal processing method of the multi-pole position detecting device which is sequentially provided. As shown in FIG. 28, the voltage signal sent from the first magnetic steel ring and the second magnetic steel ring in the position detecting device is A/D converted, and the analog signal is converted into a digital signal; The first voltage signal corresponding to the first magnetic steel ring sent by the detecting device is angularly solved, and the relative offset of the signal corresponding to the first magnetic steel ring in the signal period is calculated; the absolute offset calculating circuit Performing an angle solution on the first voltage signal corresponding to the second magnetic steel ring sent by the position detecting device to determine an absolute offset of the first position of the signal period where the first voltage signal is located; through the angle synthesis and output module, such as The adder is configured to add the relative offset and the absolute offset to synthesize a rotation angle Θ at the moment represented by the first voltage signal.

Fig. 29 is a second flowchart of the signal processing method of the position detecting means arranged in series. On the basis of Fig. 29, a signal amplifying module, such as an amplifier, is added to amplify the voltage signal from the position detecting device before the A/D conversion circuit performs A/D conversion.

Figure 30 is a third flowchart of the signal processing method of the position detecting means arranged in series. As shown in Figure 30, the temperature compensation process is also included before the angle is solved.

Figure 31 is a fourth flowchart of the signal processing method of the position detecting means arranged in series. As shown in Fig. 31, in the specific process based on the temperature compensation of Fig. 5, when performing temperature compensation, the coefficient correction is performed first, and then the signal output from the A/D converter and the coefficient-corrected output are passed through a multiplier. Multiply the specific way to compensate for the temperature. Of course, there are many specific methods for temperature compensation, which are not introduced one by one.

Hereinafter, a position detecting device of a sequential setting method and a signal processing device and method thereof will be described in detail by way of embodiments.

Embodiment 1

Embodiment 1 of the sequentially disposed position detecting device provides that the first column of magnetic sensing elements is provided with two magnetic sensing elements 308, and the second column of sensing elements is provided with three magnetic sensing elements 309 for position detecting means.

Figure 32 is a structural view of a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element of the first embodiment of the position detecting device provided in sequence; Figure 33 is a first magnetic steel ring charge of the first embodiment of the position detecting device sequentially disposed; Magnetic magnetic sequence and positional relationship with magnetic sensing elements. The first column of magnetic sensing elements 308 corresponding to the first magnetic steel ring 302 is two, i.e., m=2, represented by the sum, and the two magnetic sensing elements and 11 ₂ are respectively placed in the two nips of the corresponding magnetically conductive ring 304. . The second column of magnetic sensing elements 309 corresponding to the second magnet ring 303 is three, i.e., n = 3, and is represented by H ₃ , H _{4 ,} and H ₅ . The number of magnetic poles is taken as N=8, so that the angle between the adjacent two magnetic induction elements 309 corresponding to the second magnetic steel ring 303 is 360 ° /8. The angle between adjacent two magnetic sensing elements 308 corresponding to the first magnetic steel ring 302 is 90° /8. As can be seen from Fig. 33, the magnetization sequence of the magnetic steel ring 302 and the magnetic pole arrangement of H ₂ ; Fig. 34 is an algorithm flow chart of the magnetic steel ring 303. As shown in Figure 34, the initialization a[0] = "0... 0" is first performed; then the current encoding is entered into the encoding set, ie, the encoding set has "0...0"; then it is checked whether the set elements of the encoding set are reached. 8. If yes, the program ends. Otherwise, the current code is shifted to the left by one bit, followed by 0; then it is checked whether the current code has entered the code set. If the code set is not entered, the current code is added to the code set to continue the above steps. Into the code set, the current code last bit is decremented by 0; then it is checked whether the current code has entered the code set. If the code set is not entered, the current code is entered into the code set to continue the above steps, and if the code set has been entered, the current code is checked. Whether it is "0... 0", yes, then, otherwise, the current coded direct forward code end bit is 0 to 1; then it is checked whether the current code has entered the code set, if the code set is not entered, the current code is encoded. The set continues with the above steps. If the code set has been entered, it is checked whether the current code is "0...0", and then the following procedure is continued. Among them, 0 magnetization is "N/S", and 1 magnetization is "S/N". Thus, the magnetization structure diagram of the magnetic steel ring 303 shown in Fig. 10 and the arrangement order of H ₃ and , are obtained.

Fig. 35 is a block diagram showing a signal processing device of the first embodiment of the position detecting device which is sequentially provided. As shown in FIG. 35, the output signals of the magnetic sensing elements H _le and H _2e are connected to the amplifier, and the output signals of the amplifiers are input to the analog input port of the A/D converter, and the output signals are multiplied by the analog-to-digital converters 4_1, 5_1, coefficients. The output signal of the aligner 10_1 is connected to the input terminals of the multipliers 4_1, 5_1, the output signals A, B of the multipliers 4_1, 5_1 are coupled to the input terminal of the coder 6_1, and the output signal D of the first synthesizer 6_1 is used as the memory 8_1 and the memory 9_1. The input signal, the output signal of the memory 9_1 is connected to the coefficient corrector 10_1, and the output signal of the memory 8_1 is used as the input terminal of the adder 12_1.

The output signals of the sensors 1_3, 1_4, ... l_n are respectively amplified by three amplifiers 2_3, 2_4, ... 2_n, and then connected to the AD converters 3_3, 3_4, ... 3_n for analog-to-digital conversion and then synthesized by the second synthesis. The unit 7_1 performs synthesis and then obtains it from the memory 11_1. And the measured absolute angular displacement output is obtained by the adder 12_1.

Wherein, during the processing of the signal, the output of the first synthesizer 6_1 is performed as follows:

Convention:

Comparing the magnitudes of the two signals, the value of the signal D for the output is small, the structure of the signal D is {the coincidence of the first signal, the coincidence of the second signal, the numerical value of the signal of the smaller value} . details as follows:

If A_D>=B_D

Otherwise:

D={ A_0; B_0; A_D }

R = ² + B ² .

The output of the second synthesizer 7 is performed as follows:

E={ C3_0; C4_0; ... Cn_0 }

The signal K is generally obtained by dividing the signals R _Q and R.

For the first and second standard angle tables, two tables are stored in the memory, each table corresponding to a series of codes, each code corresponding to an angle. The table is obtained by calibration, and the calibration method is: using the detecting device of the embodiment and a high-precision position sensor, the signals output by the magnetic sensing element in the embodiment and the angle of the high-precision position sensor output are in one-to-one correspondence. In order to establish a relationship between the signal and the angle of the output of a magnetic induction element. That is, corresponding to the signal D stored a number A standard angle table, each signal D represents a relative offset. Corresponding to the signal E, a second standard angle table is stored, each signal E representing an absolute offset.

Embodiment 2

The second embodiment of the position detecting device which is sequentially provided provides a schematic view in which four magnetic induction elements are provided corresponding to the first magnetic steel ring 302.

36 is a schematic structural view of a first magnetic steel ring Hall element, a magnetic conductive ring, and a magnetic induction element according to a second embodiment of the position detecting device of the sequential arrangement mode; and FIG. 37 is a second embodiment of the position detecting device of the sequential arrangement mode. A magnetic steel ring magnetization magnetic sequence and a positional relationship diagram with a magnetic induction element.

As shown in FIG. 36, the first column of magnetic sensing elements 308 corresponding to the first magnetic steel ring 302 is four, that is, m=4, represented by H ₂ , _3⁄4 and H ₄ , and the four magnetic sensing elements Η ₂ , 3⁄4 and The Η _{4 is} placed in each of the four nips corresponding to the first magnetically conductive ring 304. The second column of magnetic sensing elements 309 corresponding to the second magnet ring 303 is three, i.e., η = 3, and is represented by Η ₅ , Η _{6 ,} and Η ₇ . Ν = 8, so that the angle between the adjacent two magnetic sensing elements 309 corresponding to the second magnetic steel ring 303 is 360 ° /8. The angle between adjacent two magnetic sensing elements 308 corresponding to the first magnetic steel ring 302 is 90 ° /8.

As can be seen from Fig. 37, the magnetization sequence of the magnetic steel ring 302 and the magnetic poles of Η ₂ , _3⁄4 and 11 ₄ are arranged. The magnetization structure and algorithm flow of the first magnetic steel ring 302 are the same as those of the first embodiment, and the description thereof will be omitted herein.

Figure 38 is a block diagram of a signal processing device of a second embodiment of the position detecting device of the sequential setting mode. The signal processing device and the processing method are similar to those of the first embodiment, except that since there are four magnetic sensing elements in the second embodiment, the magnetic sensing element and the output signal of the magnetic signal amplifying circuit 2_1 are differentially amplified, and the magnetic sensing elements _3⁄4 and Η ₄ The output signal is amplified by the amplifying circuit 2-2, and the signal outputted to the first synthesizer 6_1 is still two. The processing and method are the same as those in the first embodiment. Therefore, it will not be described here.

Embodiment 3

The third embodiment of the position detecting device for the sequential arrangement provides a structural view in which three magnetic induction elements are provided corresponding to the first magnetic steel ring.

39 is a schematic structural view of a first magnetic steel ring Hall element, a magnetic conductive ring, and a magnetic induction element according to a third embodiment of the position detecting device of the sequential arrangement mode; and FIG. 40 is a third embodiment of the position detecting device of the sequential arrangement mode. A magnetic steel ring magnetization magnetic sequence and a positional relationship diagram with a magnetic induction element;

As shown in FIG. 39, the first column of magnetic sensing elements 308 corresponding to the first magnetic steel ring 302 is three, that is, m=3, used! ^, H ₂ and 3⁄4 indicate that the three magnetic induction elements Η ₂ and 3⁄4 are respectively placed in the three nips corresponding to the first magnetically conductive ring 304. The second column of magnetic sensing elements 309 corresponding to the second magnet ring 303 is three, i.e., η = 3, and is represented by Η ₄ , Η _{5 ,} and _3⁄4 . Ν = 8, so that the angle between the adjacent two magnetic sensing elements 309 corresponding to the second magnetic steel ring 303 is 360 ° /8. The angle between adjacent two magnetic sensing elements 308 corresponding to the first magnetic steel ring 302 is 120 ° /8.

As can be seen from Fig. 40, the magnetization sequence of the magnetic steel ring 302 and the magnetic poles of 3⁄4 and 3⁄4 are arranged. The magnetization structure and algorithm flow of the first magnet ring 302 are the same as those of the first embodiment, and the description thereof will be omitted herein.

Figure 41 is a block diagram of a signal processing device of a third embodiment of the position detecting device of the sequential setting mode. Different from the first embodiment, there are three magnetic induction elements, and three signals are output to the first synthesizer 7_1. The synthesizer is different from the first embodiment in processing signals, and the rest is the same as the first embodiment. Here, only how the synthesizer processes it yields 0 and .

In this embodiment, the processing of the signal, that is, the output principle of the first synthesizer 7_1 is: first determining the coincidence bits of the three signals, and comparing the magnitudes of the values of the signals conforming to the same bit, and the values are small for output. Signal D, the structure of signal D is {the coincidence of the first signal, the coincidence of the second signal, the coincidence of the third signal, the value of the signal of the smaller value}. Take this reality Example for example:

Convention:

If { A_0; B_0; C_0}=010 and A— D>= C_D

D={ A_0; B_0; C_0; C— — D }

If { A_0; B_0; C_0}=010 and A— D< C_D

D={ A_0; B_0; C_0; A— D };

If { A_0; B_0; C_0}=101 and A— D>= C_D

D={ A_0; B_0; C_0; C— D };

If { A_0; B_0; C_0}=101 and A— D< C_D

D={ A_0; B_0; C_0; A— D };

If { A_0; B_0; C_0}=011 and B_ — D>=C_D

D={ A_0; B_0; C_0; C— D };

If { A_0; B_0; C_0}=011 and B_ — D<C_D

D={ A_0; B_0; C_0; B— D };

If { A_0; B_0; C_0}=100 and B_ — D>=C_D

D={ A_0; B_0; C_0; C— D };

If { A_0; B_0; C_0}=100 and B_ — D<C_D

D={ A_0; B_0; C_0; B— D };

If { A_0; B_0; C_0}=001 and B_ — D>=A_D

D={ A_0; B_0; C_0; A— D };

If { A_0; B_0; C_0}=001 and B_ _D<A_D

D={ A_0; B_0; C_0; B— D };

If { A_0; B_0; C_0}=110 and B_ — D>=A_D

D={ A_0; B_0; C_0; A— D };

If { A_0; B_0; C_0}=110 and B_ — D<A_D

D={ A_0; B_0; C_0; B— D };

a = A -Bx cos (―) -Cx cos (―)

ί ί

β = Βχ sin (―) -Cx sin (―)

R = a ² + ² .

Embodiment 4

Embodiment 4 of the sequentially disposed position detecting device provides a structural view in which six magnetic induction elements are provided corresponding to the first magnetic steel ring.

Figure 42 is a schematic view showing the structure of a first magnetic steel ring Hall element, a magnetic conductive ring, and a magnetic induction element of the fourth embodiment of the position detecting device; and Figure 43 is a first magnetic field of the fourth embodiment of the position detecting device which is sequentially disposed. Steel ring magnetizing magnetic sequence and magnetic induction element The positional relationship diagram of the piece.

As shown in FIG. 42, the first column of magnetic sensing elements 308 corresponding to the first magnetic steel ring 302 is six, that is, m=6, represented by H ₂ , H ₃ , H ₄ , H _{5 ,} and H ₆ . The magnetic sensing elements Η ₂ , Η ₃ , Η ₄ , Η ₅ and Η ₆ are respectively placed in the six nips corresponding to the first magnetically conductive ring 304. The second column of magnetic sensing elements 309 corresponding to the second magnet ring 303 is three, i.e., η = 3, represented by Η ₇ , 3⁄4 and . Taking Ν = 8, such that the angle between the adjacent two magnetic sensing elements 309 corresponding to the second magnet ring 303 is 360° / 8. The angle between the adjacent two magnetic sensing elements 308 corresponding to the first magnetic steel ring 302 is 60° / 8.

As can be seen from Fig. 43, the magnetization sequence of the magnetic steel ring 302 and the arrangement of Η ₂ , Η ₃ , Η ₄ , Η ₅ and Η ₆ are shown. The magnetization structure and algorithm flow of the first magnetic steel ring 302 are the same as those of the first embodiment, and the description thereof will be omitted herein.

Figure 44 is a block diagram of a signal processing device of a fourth embodiment of the position detecting device which is sequentially provided. Different from the third embodiment, the magnetic sensing element has six sensors. Therefore, the output signals of the sensors 1_1 and 1_2 are differentially amplified by the amplifying circuit 2_1, and the output signals of the sensors 1_3 and 1_4 are differentially amplified by the amplifying circuit 2_2. The output signals of the sensors 1_5 and 1_6 are differentially amplified by the amplifying circuit 2_3, and the signals outputted to the first synthesizer 7_1 are still three. The processing and method are the same as those in the third embodiment.

The above four embodiments are various embodiments in which the value of m changes in the case of η = 3, and the present invention is not limited thereto, and the magnetic sensing element n on the second magnetic steel ring may be an arbitrary integer (n = 0, 1, 2...! ι), as shown in Fig. 40, is a distribution of the second magnetic steel ring, the magnetic flux ring, and the magnetic induction element when n = 3, 4, and 5, respectively.

Figure 45 is an exploded perspective view showing the structure of the position detecting device in which the magnetic sensing element is directly attached to the position detecting device. 46 to 49 are schematic views showing the structure of the magnetic induction element corresponding to the first magnetic steel ring directly attached to the position detecting device. In the case where the magnetic induction element is directly attached to the position detecting device, the arrangement order of the magnetic induction elements is the same as that of the above-described magnetically conductive ring, and the signal processing apparatus and method are also the same, and detailed description thereof will be omitted.

Uniformly positioned position detecting device

Different from the sequentially arranged multi-pole position detecting device, corresponding to the second magnetic steel ring, n sequentially distributed magnetic sensing elements are disposed on the same circumference centered on the center of the second magnetic steel ring, n=l, 2 ...! 1. The magnetic pole magnetization sequence of the second magnetic steel ring causes the n magnetic induction original outputs to be in the form of a Gray code. The polarity of the magnetic pole is that the first position of the Gray code is "0" corresponding to the "N/S" pole, and the first position is "1" corresponding to the "S/N" pole.

The first magnetic steel ring is sequentially magnetized to g (the value of g is equal to the total number of magnetic poles in the second magnetic steel ring) to the opposite pole (the N pole and the S pole are alternately arranged), when the total number of magnetic poles in the second magnetic steel ring is 6 The first magnetic steel ring has a pole pair number of six pairs. On the same circumference centered on the center of the first magnetic steel ring, m magnetic sensing elements, such as two, are disposed, and the angle between the two magnetic sensing elements H ₂ is 90° 16.

Define the adjacent pair of "NS" in the first magnetic steel ring as one signal period. Therefore, the mechanical angle corresponding to any "NS" is 360° / g (g is the number of "NS"), assuming that the rotor rotates at the moment. The angle is within the " ^ί3⁄4 signal period, then the angular displacement can be considered to consist of two parts: 1. The relative offset in the signal period of the w ^i3⁄4 signal, the magnetic sensing element and the magnetic field of the first magnetic steel ring 11 ₂ Determine the offset ι in this "NS" signal period (value greater than 0 is less than 360° / g); 2. The absolute offset of the first position of the signal period, using sensors H ₃ , H ₄ , ... 3⁄4> Inductive magnetic ring 2's magnetic field to determine which "NS" the rotor is in at this time.

The signal processing means of the position detecting means uniformly arranged is the same as that of the sequence setting, and will not be described in detail herein.

Embodiment 1

In the first embodiment, three magnetic induction elements are provided corresponding to the second magnetic steel ring, and two magnetic induction elements are provided corresponding to the first magnetic steel ring. Figure 50 is a first embodiment of the position detecting device uniformly disposed corresponding to when the second magnetic steel ring is provided with three magnetic sensing elements. Coding. Figure 51 is a first embodiment of the position detecting device which is uniformly disposed corresponding to the magnetization sequence of the second magnetic steel ring when the second magnetic steel ring is provided with three magnetic induction elements; Figure 52 is a first embodiment of the position detecting device uniformly disposed. A structural view of the second magnetic steel ring, the magnetic flux ring, and the magnetic sensing element. As shown, the magnetic induction sequence of the second magnetic steel ring causes the output of the n magnetic induction elements to be in the form of a Gray code. The polarity of the magnetic pole is that the first position of the Gray code is "0" corresponding to the "N/S" pole, and the first position is "1" corresponding to the "S/N" pole. Therefore, in the present embodiment, since n is 3, the code shown in FIG. 50 is obtained, and 6 codes are obtained, that is, 6 poles are obtained, and the magnetization sequence is as shown in FIG. 51, and the magnetic induction elements are read around the uniform cloth. .

Figure 53 is a layout view of two magnetic induction elements when the first magnetic steel ring is uniformly magnetized to 6 poles in the first embodiment of the position detecting device; Fig. 54 is a first embodiment of the position detecting device uniformly disposed. A structural diagram of a magnetic steel ring, a magnetically conductive ring and a magnetic induction element. As shown in the figure, since the total number of magnetic poles of the second magnetic steel ring is 6, the first magnetic steel ring is sequentially magnetized to 6 poles, and the arrangement and magnetic sequence of the two magnetic induction elements are as shown in FIG. The positional relationship between the first magnetic steel ring, the magnetic flux ring and the magnetic induction element is as shown in FIG.

Embodiment 2

Fig. 55 is a structural view showing a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element of the second embodiment of the position detecting device which is uniformly disposed. As shown in FIG. 55, different from the first embodiment, in the embodiment, four magnetic induction elements, four magnetic induction elements, and clamps between H ₂ , H ₃ , and H ₄ are disposed corresponding to the first magnetic steel ring. The angle is 90° / 6.

Embodiment 3

Figure 56 is a structural view showing a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element of the third embodiment of the position detecting device which is uniformly disposed. As shown in FIG. 56, this embodiment differs from the first embodiment and the second embodiment in that three magnetic induction elements are disposed corresponding to the first magnetic steel ring, and the angle between the three magnetic induction elements Η ₂ and 3⁄4 is 120° /6. .

Embodiment 4

Figure 57 is a structural view showing a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element of the fourth embodiment of the position detecting device which is uniformly disposed. As shown in Fig. 57, this embodiment differs from the third embodiment in that six magnetic induction elements are provided corresponding to the first magnetic steel ring, and the angle between the six magnetic induction elements is 60° / 6.

Fig. 58 is an exploded perspective view showing another configuration of the first to fourth embodiments of the position detecting device which is uniformly disposed. The position detecting device includes a rotor and a stator that surrounds the rotor. The rotor includes a first magnetic steel ring 201a and a second magnetic steel ring 201b. The first magnetic steel ring 201a and the second magnetic steel ring 201b are respectively fixed to the motor shaft 200. Above, wherein the stator is a bracket 203. The magnetic sensing element 204 is directly attached to the inner surface of the bracket 203.

Similar to the first to fourth embodiments, the first magnetic steel ring in the position detecting device of Fig. 57 can be provided with 2, 4, 3, and 6 magnetic induction elements. The signal processing apparatus and the signal processing method based on the position detecting means of the different numbers of magnetic induction elements are the same as the methods of the first to fourth embodiments, respectively.

In the servo electric valve of the present invention, the servo motor 10 is preferably an AC servo motor.

Referring again to Figure 1, the reducer is a worm gear reducer. The speed reducer and servo controller 9, servo motor 10, position detecting device 7, etc. constitute a speed reducer. Under the control of the servo controller 9, the servo motor 10 drives the worm 24 to rotate by the coupling, and the worm 24 drives the worm wheel 25 to rotate. The turbine 25 is disposed on the valve stem 2, and a position detecting device 7 is mounted on the valve stem 2 and the motor shaft, respectively, for sensing the angular position of the valve stem 2 and the motor shaft. The position detecting device 7 outputs a voltage signal induced by the Hall element inside thereof, and the position detecting device 7 transmits the induced voltage signal to the servo controller 9 through the signal line 8, and the servo controller 9 performs A/D sampling and operates at an angle. The solution algorithm obtains the angular position of the valve stem 2 and the motor shaft, and then runs a control program to perform full closed-loop control of the reduction gear.

Figure 59 is a schematic view showing the structure of another type of reduction gear and valve. As shown in Figure 59, the reducer can be a cylindrical gear reducer. It should be noted that the structure of the valve can be changed. In this embodiment, the center line of the baffle 35 is the valve stem 2, and the rotation of the valve stem 2 directly drives the baffle 35 to rotate, thereby realizing the opening and closing control of the valve hole. As can be seen from Fig. 59, the position detecting means is disposed on the motor shaft, and therefore, the control of this embodiment is similar to that of Fig. 1, and will not be described again.

Figure 60 is a schematic view showing the structure of another type of reduction gear. As shown in Fig. 60, unlike the embodiment of Fig. 59, the position detecting means 7 is provided on the valve stem 2, and the control method thereof is similar to that of the embodiment of Fig. 5 and will not be described again.

Further, in practical applications, other types of speed reducers known in the art, such as a bevel gear reducer, a planetary gear reducer, or a combination of the above-described types of reducers, may be employed as needed.

The servo motor 10 is preferably an AC servo motor 10.

Figure 61 is an exploded view of the all-in-one machine. As shown in Figure 61, the position detecting device 7, the servo controller 9, and the servo motor 10 are disposed. In this embodiment, the position detecting device 7 is of a single magnetic pole structure and is located behind the servo controller 9, and the servo controller 9 is fixed to the servo motor 10 through a connecting member. However, it should be understood that the position detecting device 7 may also be a multi-pole structure. Further, the position detecting device 7 can be located between the servo motor 10 and the servo controller 9.

In summary, the servo electric valve of the present invention can arbitrarily control the opening degree of the valve as needed, and the control precision is very high, and the torque and the rotational speed can be controlled and the automatic control of the valve can be realized. Further, the servo electric valve of the present invention can be realized. High reliability, fast response, and low cost.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and not limiting. While the present invention has been described in detail with reference to the embodiments of the embodiments of the present invention, it is understood that the invention may be modified and equivalents without departing from the spirit and scope of the present invention. Within the scope of the claims of the present invention.

Claims

Claim

1. A servo electric valve, comprising a valve body, wherein a valve stem is arranged in the valve body, and an output of the servo motor is connected to the input of the reducer through a coupling, the output of the reducer is connected with the valve stem, and the valve stem is connected with the valve hole and Controlling the opening degree of the valve hole, wherein the servo motor has a position detecting device on the motor shaft, and the position detecting device inputs a signal to the servo controller to control the servo motor to drive the speed reducer and control the opening of the valve hole through the valve stem degree.

2. The servo electric valve according to claim 1, wherein the valve stem is also provided with a position detecting device, the position detecting device inputs a signal to the servo controller, and the servo controller controls the servo motor to drive the speed reducer and The opening of the valve hole is controlled by the valve stem.

3. The servo electric valve according to claim 1, wherein the valve stem is provided with a transmission mechanism, and the active member of the transmission mechanism is disposed on the valve stem, and the position detection is provided on the rotating shaft of the driven member. The device, the position detecting device inputs a signal to the servo controller, and the servo controller controls the servo motor to drive the speed reducer and controls the opening of the valve hole through the valve stem.

4. The servo electric valve according to claim 1, wherein the speed reducer is a worm gear reducer or a cylindrical gear reducer or a bevel gear reducer or a planetary gear reducer or a combination thereof.

The servo electric valve according to claim 1, wherein the servo motor is preferably an AC servo motor.

The servo electric valve according to claim 1, wherein the position detecting device, the servo controller, and the servo motor are integrally provided.

The servo electric valve according to any one of claims 1 to 6, wherein the servo controller comprises a data processing unit, a motor driving unit and a current sensor, and the data processing unit receives the input command signal, The motor input current signal collected by the current sensor and the information representing the motor angle output by the position detecting device are subjected to data processing, and output a control signal to the motor driving unit, and the motor driving unit outputs an appropriate voltage according to the control signal. The servo motor is given to achieve precise control of the servo motor.

8. The servo electric valve according to claim 7, wherein the data processing unit comprises a mechanical loop control subunit, a current loop control subunit, a PWM control signal generating subunit, and a sensor signal processing subunit;

9. The servo electric valve according to claim 7, wherein the motor drive unit comprises six power switch tubes, the switch tubes are connected in series of two, and the three groups are connected in parallel between the DC power supply lines. The control end of each switch is controlled by the PWM signal output by the PWM control signal generating sub-unit, and the two switch tubes in each group are time-divisionally turned on.

The servo electric valve according to claim 7, wherein the data processing unit is an MCU, and the motor driving unit is an IPM module.

The servo electric valve according to claim 8, wherein the position detecting device comprises a magnetic steel ring, a magnetic flux ring and a magnetic induction element, wherein the magnetic conductive ring has two or more segments of the same radius and the same The arc of the center of the circle is formed, and the adjacent two arcs are left with seams. a magnetic induction element is disposed in the gap, and when the magnetic steel ring and the magnetic conductive ring rotate relative to each other, the magnetic induction element converts the sensed magnetic signal into a voltage signal, and transmits the voltage signal to the corresponding Signal processing device.

The servo electric valve according to claim 11, wherein the magnetic conductive ring is composed of two arc segments of the same radius and the same center, which are respectively a quarter arc segment and a 3/4 arc segment. Corresponding magnetic sensing elements are two; or, the magnetic conductive ring is composed of three arc segments of the same radius, respectively, 1/3 arc segments, and corresponding magnetic sensing elements are three; or, the magnetic conductive ring It is composed of four arc segments of the same radius, which are respectively 1/4 arc segments, and the corresponding magnetic induction elements are four; or, the magnetic conductive ring is composed of six arc segments of the same radius, respectively, 1/6 arc In the segment, there are six corresponding magnetic sensing elements.

13. The servo electric valve according to claim 12, wherein the end portion of the arc of the magnetic flux ring is chamfered to be axially or radially or simultaneously axially and radially cut. The chamfer formed.

The servo electric valve according to claim 11, further comprising a skeleton for fixing the magnetic conductive ring; the magnetic conductive ring is disposed on the skeleton forming mold, and when the skeleton is integrally formed The skeletons are fixed together.

The servo electric valve according to claim 11, wherein the sensor signal processing subunit or the position detecting device includes a signal processing circuit of the position detecting device for obtaining a voltage signal according to the position detecting device. The angle of rotation of the motor shaft specifically includes:

The A/D conversion circuit performs A/D conversion on the voltage signal sent from the magnetic induction element in the position detecting device, and converts the analog signal into a digital signal;

a synthesizing circuit that processes the A/D converted plurality of voltage signals sent from the position detecting device to obtain a reference signal D; and an angle obtaining circuit that selects an angle opposite to the standard angle table as an offset according to the reference signal D Angle;

A storage circuit for storing a standard angle table.

The servo electric valve according to claim 8, wherein the position detecting device comprises a rotor and a stator that surrounds the rotor, the rotor including a first magnetic steel ring and a second magnetic steel ring ;

On the stator, corresponding to the first magnetic steel ring, there are m magnetic induction elements distributed at an angle on the same circumference centered on the center of the first magnetic steel ring, wherein m is an integer multiple of 2 or 3 The total magnetic pole number of the first magnetic steel ring is equal to the total number of magnetic poles of the second magnetic steel ring, and the polarities of the adjacent two poles are opposite;

17. The servo electric valve according to claim 16, wherein an angle between adjacent two magnetic induction elements of the first magnetic steel ring on the stator is obtained when m is 2 or 4. The angle is 90° / g; when m is 3, the angle is 120 ° / g; when m is 6, the angle is 60 ° / g, where g is the total number of magnetic poles of the second magnetic steel ring.

The servo electric valve according to claim 8, wherein the position detecting device comprises a rotor and a stator that surrounds the rotor, and the rotor includes a first magnetic steel ring and a second magnetic steel ring. ;

Wherein, the first magnetic steel ring and the second magnetic steel ring are respectively fixed on the rotating shaft, and the first magnetic steel ring is uniformly magnetized into N pairs of magnetic poles. <=2° and 11=0, 1, 2...! 1, and the polarities of the adjacent two poles are opposite; the total number of magnetic poles of the second magnetic steel ring is N, and the magnetic order is determined according to a specific magnetic sequence algorithm; On the stator, corresponding to the first magnetic steel ring, there are m magnetic induction elements distributed at an angle on the same circumference centered on the center of the first magnetic steel ring, wherein m is an integer multiple of 2 or 3; The second magnetic steel ring is provided with n magnetic induction elements distributed at an angle on the same circumference centered on the center of the second magnetic steel ring, wherein n=0, 1,

The servo electric valve according to claim 18, wherein an angle between adjacent two magnetic induction elements on the stator corresponding to the second magnetic steel ring is 360 ° /N.

20. The servo electric valve according to claim 19, wherein an angle between adjacent two magnetic induction elements on the stator corresponding to the first magnetic steel ring, when m is 2 or 4, each adjacent The angle between the two magnetic sensing elements is 90° /N. When m is 3, the angle between each adjacent two magnetic sensing elements is 120 ° /N; when m is 6, each adjacent two The angle between the magnetic sensing elements is 60 ° /N.

The position detecting device according to any one of claims 16 or 18, wherein the magnetic induction element is directly attached to an inner surface of the stator.

The servo electric valve according to any one of claims 16 or 18, further comprising two magnetic conductive rings, each of said magnetic conductive rings being composed of a plurality of arcs of the same center and the same radius A gap is left in the adjacent two arc segments, and magnetic sensing elements corresponding to the two magnetic steel rings are respectively disposed in the gap.

The servo electric valve according to claim 22, wherein the end portion of the arc of the magnetic flux ring is chamfered to be axially or radially or simultaneously axially and radially cut. The chamfer formed.

The servo electric valve according to any one of claims 11, 16 or 18, wherein the magnetic induction element is a Hall sensing element.

The servo electric valve according to any one of claims 16 or 18, wherein the sensor signal processing subunit or the position detecting device includes a signal processing circuit of the position detecting device for detecting the position according to the position The voltage signal of the device obtains the rotation angle of the motor shaft, and specifically includes:

An A/D conversion circuit that performs A/D conversion on the voltage signal sent from the position detecting device to convert the analog signal into a digital signal;

An angle synthesis and output module, configured to add the relative offset and the absolute offset to synthesize a rotation angle represented by the first voltage signal at the moment;

A storage module for storing data.

The servo electric valve according to claim 25, further comprising:

A signal amplifying circuit for amplifying a voltage signal from the magnetoelectric sensor before the A/D conversion circuit performs A/D conversion.

The servo electric valve according to claim 25, wherein the relative offset angle calculating circuit comprises a first synthesizing circuit and a first angle acquiring circuit, wherein the first synthesizing circuit transmits the position detecting device The A/D converted plurality of voltage signals are processed to obtain a reference signal D. The first angle obtaining circuit selects an angle opposite to the angle in the first standard standard angle table as the offset angle according to the reference signal D. .

The servo electric valve according to claim 27, wherein the relative offset angle calculating circuit further comprises a temperature compensating circuit for canceling the voltage sent from the magnetoelectric sensor or before the synthesizing circuit The effect of the signal.

The servo electric valve according to claim 27, wherein the output of the synthesizing circuit or the first synthesizing circuit further comprises a signal R;

The temperature compensating unit includes a coefficient corrector and a multiplier, the signal R of the output of the synthesizing module by the coefficient corrector and the signal R in a standard state corresponding to the signal. Comparing to obtain an output signal K; the multiplier is a plurality, and each of the multipliers outputs a voltage signal that is A/D converted from the position detecting device and an output signal K of the coefficient correction module. Multiply, and the multiplied result is output to the first synthesizing circuit.

30. The servo electric valve according to claim 25, wherein the absolute offset calculation circuit comprises a second synthesis circuit and a second angle acquisition circuit, and the second synthesis circuit is configured to correspond to the second The second voltage signal sent by the position detecting device of the magnetic steel ring is combined to obtain a signal E. The second angle acquiring circuit selects an angle opposite to the first standard angle table as the first voltage according to the signal E. The absolute offset of the first position of the signal period at which the signal is located.

31. A method of controlling a servo electric valve, the method comprising the steps of:

The control method according to claim 31, wherein the specific step of detecting in the step 3 is: the servo controller reads the voltage signal of the position detecting device every other fixed period, and The voltage signal is converted to an angular position of the motor shaft by an angle solving algorithm.

33. A method of controlling a servo electric valve, the method comprising the steps of:

Step 1: Detect the angular position of the valve stem, transmit the induced voltage signal to the MCU of the servo controller, and the servo controller calculates the angular position information of the valve stem;

Step 2: Detecting the angular position of the servo motor shaft, transmitting the induced voltage signal to the MCU of the servo controller, and the servo controller is calculated to obtain the angular position information of the rotating shaft;

The control method of the servo electric valve according to claim 33, wherein the specific method of step 1 comprises: providing a position detecting device on the valve stem, directly detecting, calculating and obtaining by the position detecting device Angle position information of the valve stem.

The control method of the servo electric valve according to claim 33, wherein the specific method of step 1 comprises: providing a transmission mechanism on the valve stem, wherein the active component of the transmission mechanism is disposed on the valve stem, The position detecting device is arranged on the rotating shaft of the driven member, and the displacement of the transmission mechanism is in one-to-one correspondence with the opening degree of the valve through the setting of the transmission ratio, and the displacement of the transmission mechanism is detected by the position detecting device, and the valve is directly obtained. Opening degree.

36. The method of controlling a servo electric valve according to claim 35, wherein the setting of the transmission ratio is such that the valve is fully open to fully closed or fully closed to fully open, in the transmission mechanism. The rotating shaft of the moving member is rotated by less than 360°.