WO2019010708A1 - 一种闸阀及闸阀控制方法 - Google Patents

一种闸阀及闸阀控制方法 Download PDF

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Publication number
WO2019010708A1
WO2019010708A1 PCT/CN2017/093026 CN2017093026W WO2019010708A1 WO 2019010708 A1 WO2019010708 A1 WO 2019010708A1 CN 2017093026 W CN2017093026 W CN 2017093026W WO 2019010708 A1 WO2019010708 A1 WO 2019010708A1
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WIPO (PCT)
Prior art keywords
gate valve
state data
hydraulic power
detecting
shutter
Prior art date
Application number
PCT/CN2017/093026
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English (en)
French (fr)
Inventor
寇子明
吴娟
寇彦飞
高贵军
张鹏
张静
高鑫宇
Original Assignee
太原理工大学
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Publication date
Application filed by 太原理工大学 filed Critical 太原理工大学
Priority to AU2017422789A priority Critical patent/AU2017422789B2/en
Publication of WO2019010708A1 publication Critical patent/WO2019010708A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K3/00—Gate valves or sliding valves, i.e. cut-off apparatus with closing members having a sliding movement along the seat for opening and closing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
    • F16K31/14—Actuating devices; Operating means; Releasing devices actuated by fluid for mounting on, or in combination with, hand-actuated valves
    • F16K31/143—Actuating devices; Operating means; Releasing devices actuated by fluid for mounting on, or in combination with, hand-actuated valves the fluid acting on a piston
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/44—Mechanical actuating means
    • F16K31/60—Handles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K47/00—Means in valves for absorbing fluid energy
    • F16K47/02—Means in valves for absorbing fluid energy for preventing water-hammer or noise

Definitions

  • the invention relates to the field of coal mine underground and oil pipeline water supply and drainage, and particularly relates to a gate valve and a gate valve control method.
  • the gate valve Due to its simple structure and good sealing performance, the gate valve is widely used in water supply and drainage systems such as mines.
  • the gate valve actuator is more common as a handwheel switch.
  • the handwheel switch actuator With the development of the gate valve to high pressure, large diameter and automation, the handwheel switch actuator has been unable to meet the demand. Therefore, an automatic execution scheme has emerged, mainly by rotating the motor and increasing the torque of the reducer, instead of the hand wheel mechanism, on the one hand, the labor intensity can be reduced, and on the other hand, the remote control is easy to implement.
  • the existing automatic execution scheme still has many problems: mainly the difficulty of starting the load, the reliability of the overload protection is not easy to achieve, and the failure rate is high.
  • the automatic opening and closing of the gate valve by the motor or the like often occurs. Caused a serious water hammer phenomenon, resulting in damage to the gate valve and pipeline.
  • the industry has also proposed solutions, such as: the publication number is CN102182838A, the invention name is "a mining submersible electro-hydraulic control gate valve" invention patent, no longer use the motor plus wire rod transmission mode, but The hydraulic cylinder is used to drive the ram, which eliminates the complicated mechanical transmission structure, and limits the limit position of the ram through the proximity switch, which basically solves the problem of difficulty in loading and overloading of the load, and also solves the poor reliability brought by the motor driven gate valve. ,malfunction The problem is high, but the occurrence of water hammer cannot be avoided.
  • the invention patent entitled CN105003715A is "a gate valve electro-hydraulic drive system with an emergency shut-off function and a gate valve", by setting a buffer device at the end of the actuator, a part of the water hammer phenomenon can be avoided.
  • the buffering force of the buffer device is fixed, it cannot be adjusted according to the specific conditions in the pipeline, or the water hammer phenomenon cannot be completely avoided.
  • the embodiment of the present invention is expected to provide a gate valve and a gate valve control method, which can solve the problem of poor reliability and high failure rate of the gate valve, and can effectively avoid the occurrence of the water hammer phenomenon.
  • Embodiments of the present invention provide a gate valve including a shutter, a gate valve control device, and a hydraulic power device that drives the shutter to open and close, the gate valve control device including a control component and a detection center for controlling movement of the hydraulic power device a detecting member for the state of the gate valve;
  • the detecting component is configured to detect actual state data of the gate valve at preset time intervals
  • the control component is configured to adjust a control parameter input to the hydraulic power unit according to actual state data detected by the detecting component until the actual state data conforms to preset state data.
  • the hydraulic power unit includes a hydraulic cylinder, and a piston rod of the hydraulic cylinder is coupled to the shutter.
  • control component is a PLC
  • detecting component includes a displacement detecting component that detects displacement of the piston rod.
  • the detecting part further includes: a first speed detecting part that detects a moving speed of the shutter, a second speed detecting part that detects a liquid flow speed in the pipe, and a pressure detecting part that detects a pressure of the inner wall of the pipe and detects a vibration value of the pipe. Vibration detection component.
  • the hydraulic power unit further includes a driving motor, and the motor shaft of the driving motor is connected with a hand crank device;
  • the hand crank device includes a hand rocker, establishes or releases between the hand rocker and the motor shaft Linkage components that are linked together.
  • the hand crank device further includes a planetary gear mechanism including a box body, an inner ring gear, a planet carrier, a planetary gear and a sun gear;
  • a planetary gear mechanism including a box body, an inner ring gear, a planet carrier, a planetary gear and a sun gear;
  • the ring gear is fixed to the inner wall of the box, the rocker is fixedly connected to the planet carrier, the motor sleeve is provided with the sun gear; the clutch member is configured to connect the motor shaft and The sun gears are connected in a circumferential direction.
  • one end of the carrier is provided with two planetary gear shafts, and each of the planetary gear shafts is provided with a first planetary gear and a second planetary gear which are axially arranged and rotate in synchronization with the planetary gear shaft. ;
  • the first planetary gear meshes with the inner ring gear, and the second planetary gear meshes with the sun gear; the number of teeth of the first planetary gear is smaller than the number of teeth of the inner ring gear and the number of teeth of the second planetary gear The number of teeth of the sun gear is smaller than the number of teeth of the second planetary gear.
  • the embodiment of the invention further provides a gate valve control method, the method comprising:
  • control parameters of the input hydraulic power unit are adjusted according to the actual state data until the actual state data conforms to the preset state data.
  • the detecting actual state data of the gate valve according to a preset time interval comprises:
  • the actual displacement data of the hydraulic power transmission component is periodically detected at preset time intervals.
  • the adjusting the input of the control parameter of the hydraulic power device according to the actual state data until the actual state data conforms to the preset state data includes:
  • the detecting the actual state data of the gate valve by using a preset time interval further includes:
  • the actual moving speed of the shutter, the liquid flow velocity in the pipe, the inner wall pressure of the pipe, and the pipe vibration value are periodically detected at preset time intervals.
  • the method further includes:
  • the detected liquid flow velocity in the pipeline, the inner wall pressure of the pipeline, and the vibration value of the pipeline are subjected to fuzzy calculation to determine the target moving speed of the shutter.
  • the adjusting the input of the control parameter of the hydraulic power device according to the actual state data until the actual state data meets the preset state data further includes:
  • the adjusting the control parameter input to the hydraulic power device according to the speed error value comprises:
  • the speed error value is input to a proportional-integral-derivative control component, and the control parameters of the input hydraulic power unit are adjusted by the proportional-integral-derivative control component.
  • a gate valve and a gate valve control method include a shutter, a gate valve control device, and a hydraulic power device that drives the shutter to open and close
  • the gate valve control device includes a control component that controls movement of the hydraulic power device, and detects the a detecting component of the gate valve state; the detecting component configured to detect actual state data of the gate valve at a preset time interval; the control component configured to adjust the input of the hydraulic power device according to actual state data detected by the detecting component The control parameter until the actual state data meets the preset state data; it can be seen that the gate valve control device of the embodiment of the invention adjusts the control parameters of the hydraulic power device according to the detection result of the detecting component, and can accurately control the hydraulic power device.
  • the movement can effectively solve the problem of poor reliability and high failure rate of the gate valve, and can effectively avoid the occurrence of water hammer.
  • FIG. 1 is a schematic structural view of a gate valve according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a second gate valve according to an embodiment of the present invention.
  • FIG. 3 is a schematic view of a hydraulic power unit of a three-gate valve according to an embodiment of the present invention.
  • Figure 4 is a cross-sectional view of the hand crank of Figure 3;
  • Figure 5 is a schematic view showing the meshing of the planetary gear of the hand cranking device of Figure 4.
  • FIG. 6 is a schematic flow chart of a method for controlling a four-gate valve according to an embodiment of the present invention.
  • FIG. 7 is a schematic flow chart of controlling a gate valve by monitoring displacement of a piston rod according to Embodiment 5 of the present invention.
  • FIG. 8 is a schematic structural diagram of a gate valve control device with a self-learning fuzzy controller according to an embodiment of the present invention.
  • FIG. 9 is a schematic flow chart of closing a shutter of a gate valve control device with a self-learning fuzzy controller according to an embodiment of the present invention.
  • Embodiments of the present invention provide a gate valve including a shutter, a gate valve control device, and a hydraulic power device that drives the shutter to open and close, the gate valve control device including a control component and a detection center for controlling movement of the hydraulic power device a detecting component of the gate valve state; the detecting component configured to detect actual state data of the gate valve at preset time intervals; the control component configured to adjust input of the hydraulic power according to actual state data detected by the detecting component The control parameters of the device until the actual state data conforms to the preset state data.
  • the principle of the embodiment of the present invention is: detecting actual state data of the gate valve, and feeding back the detection result to the gate valve control device, and adjusting the control parameter input to the hydraulic power device until the actual state data conforms to the preset state data; It is said that the control principle of negative feedback can accurately control the movement of the hydraulic power unit; it can solve the problem of poor reliability and high failure rate of the gate valve, and effectively avoid the occurrence of water hammer.
  • FIG. 1 is a schematic structural diagram of a gate valve according to an embodiment of the present invention.
  • the gate valve includes a gate valve control device 11, a hydraulic power device 12, and a shutter 13;
  • the gate valve control device 11 includes: a control unit that controls movement of the hydraulic power unit and a detecting unit that detects a state of the gate valve, wherein the control unit and the detecting unit are connected; wherein
  • the detecting component is configured to detect actual state data of the gate valve at preset time intervals
  • the control component is configured to adjust a control parameter input to the hydraulic power unit according to actual state data detected by the detecting component until the actual state data conforms to preset state data.
  • the hydraulic power unit 12 includes a hydraulic pump 121 and a hydraulic cylinder 122.
  • the piston rod of the hydraulic cylinder 122 is connected to the shutter 13 so that the shutter can be driven by linear reciprocation of the piston rod of the hydraulic cylinder 122. Opening and closing of 13;
  • control component may be a programmable logic controller (PLC) 111
  • detecting component may specifically be a displacement detecting component 112 that detects displacement of the piston rod of the hydraulic cylinder.
  • the displacement detecting component 112 may be a displacement sensor, and specifically may be a grating displacement sensor.
  • the gate valve control device 11 detects the actual displacement data of the hydraulic cylinder piston rod by the displacement detecting component 112 at a preset time interval, and adjusts the actual displacement data according to the detected PLC 111 by the PLC 111.
  • the control parameters of the hydraulic power unit 12 are input until the actual displacement data conforms to the preset displacement data, so as to achieve precise control of the movement of the hydraulic power unit 12. It can solve the problem of poor reliability and high failure rate of the gate valve, and effectively avoid the occurrence of water hammer.
  • the gate valve includes a gate valve control device 21, a hydraulic power device 22, and a shutter 23;
  • the gate valve control device 21 includes: a control unit that controls movement of the hydraulic power unit 22 and a detecting unit that detects a state of the gate valve, wherein the control unit and the detecting unit are connected; wherein
  • the detecting component is configured to detect actual state data of the gate valve at preset time intervals
  • the control component is configured to adjust a control parameter input to the hydraulic power unit according to actual state data detected by the detecting component until the actual state data conforms to preset state data.
  • the hydraulic power unit 22 includes a hydraulic pump 221 and a hydraulic cylinder 222.
  • the piston rod of the hydraulic cylinder 222 is connected to the shutter 23, so that the shutter can be driven by the linear reciprocating motion of the piston rod of the hydraulic cylinder 222. Opening and closing of 23;
  • control component is a PLC 211
  • detecting component includes: a displacement detecting component 212, a first speed detecting component 213, a second speed detecting component 214, a pressure detecting component 215, and a vibration detecting component 216;
  • the displacement detecting component 212 is configured to detect a displacement of the hydraulic cylinder piston rod
  • the first speed detecting component 213 is configured to detect a moving speed of the shutter
  • the second speed detecting component 214 is configured to detect a liquid flow velocity in the pipeline
  • the pressure detecting component 215 is configured to detect an inner wall pressure of the pipeline
  • the vibration detecting part 216 is configured to detect a vibration value of a pipe.
  • the displacement detecting component 212 may be a displacement sensor
  • the first speed detecting component 213 may specifically be a speed sensor
  • the second speed detecting component 214 may specifically be a flow meter, and the flow rate is measured first, and then the flow rate is calculated.
  • the pressure detecting component 215 may specifically be a pressure sensor
  • the vibration detecting component 216 may specifically be a vibration monitor.
  • the gate valve control device of the embodiment of the invention can accurately control the hydraulic power device.
  • the set motion can solve the problem of poor reliability and high failure rate of the gate valve, and effectively avoid the occurrence of water hammer.
  • the embodiment of the present invention further includes a self-learning fuzzy controller
  • the self-learning fuzzy controller is configured to perform fuzzy calculation on the detected liquid flow velocity in the pipeline, the inner wall pressure of the pipeline, and the vibration value of the pipeline to determine a target moving speed of the gate;
  • the self-learning fuzzy controller may be a fuzzy controller adopting a fuzzy control principle and a gate valve control method.
  • the gate valve control apparatus determines the target moving speed of the shutter by the second speed detecting section 214, the pressure detecting section 215, and the vibration detecting section 216, and presets by the first speed detecting section 213
  • the time interval detects the actual moving speed of the shutter, and then the PLC 211 adjusts the control parameter input to the hydraulic power device according to the speed error value of the actual moving speed of the shutter and the target moving speed until the speed error value Less than the preset speed error threshold, the purpose of accurately controlling the movement of the hydraulic power unit is achieved. It can solve the problem of poor reliability and high failure rate of the gate valve, and effectively avoid the occurrence of water hammer.
  • the working principle of the hydraulic power device is: the driving motor drives the hydraulic pump 221 to drain oil, and the discharged oil enters the hydraulic cylinder 222, and the piston rod of the driving hydraulic cylinder 222 moves to open and close the shutter;
  • the inner cavity of the hydraulic cylinder includes a rod cavity and a rodless cavity.
  • the piston rod moves from the rodless cavity to the rod cavity.
  • the piston rod moves in the direction of the rod cavity. Move to the rodless cavity; thus, when the motor power and the cylinder bore diameter are constant, the oil supply amount when the shutter is opened is larger, so the opening force of the gate valve opening gate is greater than the closing force of the closing shutter, which is better.
  • the power of the gate valve is utilized; because opening the gate is more difficult than closing the gate due to factors such as scale;
  • the drive motor can be an explosion-proof motor, which is safer.
  • the hydraulic power device is not limited to the liquids of the first embodiment and the second embodiment.
  • the combination of the pressure pump and the hydraulic cylinder can also be other hydraulic equipment capable of providing power, such as a hydraulic motor and a screw rod;
  • the control component may also be other components than the PLC, such as a single chip microcomputer, an industrial control computer, etc.; the detection component may provide more detection components according to the needs of the control.
  • FIG. 3 is a schematic view of a hydraulic power unit of a three-gate valve according to an embodiment of the present invention.
  • the hydraulic power unit includes a hydraulic pump 31 and a hydraulic cylinder 32, and a piston rod and a brake plate of the hydraulic cylinder 32 (Fig. 3) Connected in the middle; the shutter is disposed in the pipe 33;
  • the hydraulic pump 31 includes a drive motor 34, the motor shaft of the drive motor 34 is connected with a hand crank device 35;
  • the hand crank device 35 is configured to manually open or close the gate valve in an emergency such as power failure or failure;
  • the hydraulic power unit opens and closes the shutter according to the instruction of the gate valve control device, that is, according to the instruction of the gate valve control device, the hydraulic pump 31 is driven by the drive motor 34 to drain the oil, and the discharged oil enters the hydraulic pressure.
  • the cylinder 32 drives the piston rod of the hydraulic cylinder 32 to move, and can also open and close the shutter; however, in an emergency such as power failure or failure, the hydraulic power unit loses power and cannot open and close the shutter, and needs to pass the hand crank device 35. Complete the opening and closing of the shutter.
  • manually opening or closing the gate valve may be any mechanism that is not associated with the drive motor 34, such as a manual hydraulic pump; compared to the manual hydraulic pump, the hand crank device 35 of the embodiment of the present invention directly It is connected with the motor shaft, and it is not necessary to separately lay pipes, solenoid valves and the like, and the structure is simpler.
  • the hand crank device 35 includes a hand rocker 351, and establishes or releases a linkage connection between the hand rocker 351 and the motor shaft 341. Clutch component 352.
  • the hand crank device 35 further includes a planetary gear mechanism.
  • the planetary gear mechanism includes a casing 353, an inner ring gear 354, a planet carrier 355, a planetary gear and a sun gear 356; the inner ring gear 354 is fixed to an inner wall of the casing 353, and the hand crank 351 is
  • the carrier 355 is fixedly coupled, and the motor shaft 341 is sleeved with the sun gear 356; the clutch member 352 is configured to connect the motor shaft 341 and the sun gear 356 in a circumferential direction.
  • one end of the planet carrier 355 is provided with two planetary gear shafts 357, and the two planetary gear shafts 357 are axially symmetric based on the motor shaft 341;
  • Each of the planetary gear shafts 357 is provided with a first planetary gear 358 and a second planetary gear 359 which are axially arranged and rotate in synchronization with the planetary gear shaft 357; the first planetary gear 358 and the inner portion The ring gear 354 is meshed, and the second planetary gear 359 is meshed with the sun gear 356; the number of teeth of the first planetary gear 358 is smaller than the number of teeth of the inner ring gear 354 and the number of teeth of the second planetary gear 359, the sun The number of teeth of the gear 356 is smaller than the number of teeth of the second planetary gear 359.
  • the motor shaft 341 is further sleeved with a clutch sleeve 342, and the outer circumference of the clutch sleeve 342 is sleeved with the sun gear 356; the clutch sleeve 342 is fixed on the motor shaft 341 by a key. ;
  • hand crank device 35 and the motor shaft 341 can also be other Mode transmission connection, such as ordinary gear transmission, worm gear drive, belt drive, chain drive, etc.
  • FIG. 5 is further illustrated by taking FIG. 5 as an example:
  • Figure 5 is a schematic view of the planetary gear meshing of the hand crank of Figure 4; the first planetary gear 358 meshes with the inner ring gear 354, and the second planetary gear 359 meshes with the sun gear 356;
  • the gears of FIG. 5 have a modulus of two, the number of teeth of the first planetary gear 358 is 8, the number of teeth of the second planetary gear 359 is 29, the number of teeth of the sun gear 356 is 10, and the number of teeth of the inner ring gear 354 is 48.
  • the transmission reaches 18.4, that is, the speed increase ratio is 18.4;
  • the sun gear 356 is the gear 1
  • the second planetary gear 359 is the gear 2
  • the first planetary gear is the gear 3
  • the inner ring gear 354 is the gear 4
  • the carrier is H.
  • n the rotational speed
  • Z the number of teeth, such as n 1 represents the rotational speed of the gear 1
  • Z 1 represents the number of teeth of the gear 1, and so on;
  • n 4 is zero, which is obtained by the expression (1):
  • the rotation speed of the gear 1, that is, the sun gear 356 is 18.4 times that of the carrier 355, and the carrier 355 and the hand lever 351 are fixedly connected, and therefore, the speed increase ratio of the hand crank device 35 is 18.4.
  • the speed can be adjusted at any time by the torque applied by the arm.
  • gears in the planetary gear mechanism can be designed with different numbers of teeth as in the present embodiment as needed.
  • the modulus of the gear in FIG. 5 is represented by the letter M, and the number of teeth is represented by the letter Z.
  • FIG. 6 is a schematic flow chart of a method for controlling a four-gate valve according to an embodiment of the present invention.
  • the execution body of the method may be a gate valve control device. As shown in FIG. 6, the method includes:
  • Step 601 After the gate valve is started, detecting actual state data of the gate valve according to a preset time interval;
  • the detecting actual state data of the gate valve according to a preset time interval includes:
  • the actual displacement data of the hydraulic power transmission component is periodically detected at preset time intervals.
  • detecting the actual state data of the gate valve is a detecting component in the gate valve control device, and the detecting component transmits the actual state data after the detected actual state data a control component in the gate valve control device;
  • the detecting component may be a displacement detecting component
  • the control component may be a PLC
  • the displacement detecting component sends the actual displacement data of the hydraulic power transmission component to the PLC, and the PLC performs further processing, that is, step 602 is performed.
  • the detecting the actual state data of the gate valve according to the preset time interval further includes:
  • the actual moving speed of the shutter, the liquid flow velocity in the pipe, the inner wall pressure of the pipe, and the pipe vibration value are periodically detected at preset time intervals.
  • the detecting member may be a first speed detecting member that detects a moving speed of the shutter, a second speed detecting member that detects a liquid flow velocity in the pipe, and a pressure detecting member that detects a pressure of the inner wall of the pipe and a vibration detecting member that detects a vibration value of the pipe;
  • the control component can be a PLC;
  • the detecting component sends the above detection data to the PLC, and the PLC performs further processing, that is, step 602 is performed.
  • Step 602 Adjust the control parameter of the input hydraulic power device according to the actual state data until the actual state data conforms to the preset state data.
  • the adjusting the control parameter input to the hydraulic power device according to the actual state data until the actual state data conforms to the preset state data includes:
  • the preset displacement data may be calculated according to the moving speed of the transmission component of the hydraulic power device at each time period; and the moving speed of the transmission component of the hydraulic power device in each time period may be obtained according to calculation or experiment.
  • the moving speed of the transmission components of the hydraulic power unit may be the same or different in each time period;
  • the transmission component of the hydraulic power device may be set to be slow at the start of the shutter opening and closing, the middle is fast, and the slow speed is also completed when the opening and closing is completed quickly;
  • the preset displacement data of the hydraulic power transmission component can be expressed as a graph in which the horizontal axis is time and the vertical axis is displacement;
  • the preset displacement data of the hydraulic power transmission component can be determined according to calculation or experiment, and the operating condition determination can be continuously summarized in actual use.
  • the preset displacement error threshold is set according to the accuracy of the hydraulic cylinder movement, and is less than the preset displacement error threshold, so that it is not necessary to make adjustments, which is more energy-saving.
  • Adjusting the control parameter input to the hydraulic power device according to the displacement error value may include: adjusting a hydraulic oil flow rate entering the hydraulic cylinder according to the displacement error value; specifically, adjusting the control parameter may pass through the servo valve;
  • the moving speed of the piston rod of the hydraulic cylinder can be adjusted, thereby reducing the displacement error value.
  • the shutter is provided with a pressure detecting component (not shown) to detect the pressure of the bottom of the shutter to stop the action of the hydraulic power device in time; meanwhile, the hydraulic power pipe of the hydraulic power device is also provided with a relief valve.
  • the hydraulic power device can stop the action in time, and the hydraulic oil in the hydraulic pipeline is unloaded through the overflow valve, thereby avoiding the stall of the motor and the overtravel of the gate.
  • the displacement of the piston rod of the hydraulic cylinder can accurately meet the preset requirements, avoiding the damage of the hydraulic power device caused by the overload caused by the lag or the advance, and also avoiding the blockage of the driving motor in the hydraulic power device.
  • the actual displacement of the transmission component of the hydraulic power unit can be adjusted according to the preset displacement data of the transmission component of the hydraulic power unit to avoid the occurrence of the water hammer phenomenon. It will be appreciated that in order to achieve precise control of the movement of the hydraulic power unit, it is also possible to detect the displacement or speed of other transmission components other than the hydraulic cylinder piston rod.
  • the adjusting the input of the control parameter of the hydraulic power device according to the actual state data until the actual state data meets the preset state data further includes:
  • the actual moving speed of the shutter is detected by the first speed detecting component, and the first speed detecting component sends the detection data to the PLC;
  • the target moving speed of the shutter is obtained by fuzzy calculation of the detected liquid flow velocity in the pipeline, the inner wall pressure of the pipeline, and the vibration value of the pipeline.
  • the target moving speed of the shutter is constantly changing, and corresponding corrections are made according to the specific conditions in the pipeline.
  • the target moving speed of the shutter can be determined, and the water hammer phenomenon can be avoided to the utmost extent;
  • the liquid flow speed in the pipeline, the inner wall pressure of the pipeline and the vibration value of the pipeline are the key factors determining the water hammer phenomenon determined through experiments.
  • adjusting the control parameter input to the hydraulic power unit according to the speed error value comprises: adjusting a servo valve by using a proportional-integral-derivative (PID, proportional, integral, derivative) control component according to the speed error value
  • PID proportional-integral-derivative
  • the flow rate adjusts the speed of movement of the hydraulic cylinder.
  • the PID control component is a feedback loop component commonly found in industrial control applications and consists of a proportional unit P, an integral unit I and a differential unit D.
  • the basis of PID control is proportional control; integral control can eliminate steady-state error, but may increase overshoot; differential control can speed up the response of large inertia system and weaken overshoot.
  • the PID control unit is suitable for systems that require high-precision measurement control. It can automatically calculate the optimal PID control parameters according to the controlled object, and is easy to understand. It does not require precise system models and other prerequisites, thus becoming the most widely used control. Device.
  • the PID control component can be implemented by a PLC, for example, a module of a PLC, or can be a separate component.
  • the preset speed error threshold is set according to the accuracy of the movement of the hydraulic cylinder, and it is not necessary to make adjustments less than the preset speed error threshold, which is more energy-saving.
  • the gate valve is provided with a self-learning fuzzy controller configured to perform fuzzy calculation on the detected liquid flow velocity in the pipeline, the inner wall pressure of the pipeline, and the vibration value of the pipeline to obtain the gate
  • the target moves at a speed so that the target moving speed does not need to be determined manually or experimentally, so that it is more scientific and intelligent to determine the target moving speed of the shutter.
  • the water hammer phenomenon can be avoided to the utmost extent, and the gate valve and the pipeline are prevented from being damaged by impact;
  • determining the target moving speed of the shutter can add more monitoring items in addition to the liquid flow speed in the pipeline, the inner wall pressure of the pipeline, and the vibration value of the pipeline.
  • FIG. 7 is a schematic flow chart of controlling a gate valve by monitoring displacement of a piston rod according to Embodiment 5 of the present invention. As shown in FIG. 7, the process includes:
  • Step 701 Read displacement data of the piston rod
  • the displacement detecting unit detects the displacement of the piston rod of the hydraulic cylinder to obtain displacement data of the piston rod.
  • Step 702 Whether the shutter is opened or closed is completed
  • step 703 according to the displacement data of the piston rod, it is determined whether the shutter opening or closing is completed. If the shutter is opened or closed, the flow ends; if not, the process proceeds to step 703.
  • Step 703 Send the displacement data to the PLC
  • the acquired displacement data of the piston rod is sent to the PLC.
  • Step 704 Comparing the displacement data with the preset piston rod displacement data
  • the displacement data of the piston rod is compared with the displacement data of the preset piston rod to obtain a displacement. difference;
  • Step 705 Determine whether the displacement error value is less than the preset displacement error threshold. If the displacement error value is less than the preset displacement error threshold, proceed to step 701; otherwise, proceed to step 706.
  • Step 706 Send an adjustment instruction to the servo valve
  • the adjustment command is sent to the servo valve, and the piston rod of the hydraulic cylinder is adjusted by the servo valve.
  • Step 707 Adjust the moving speed of the piston rod.
  • the servo valve adjusts the flow rate of the hydraulic oil entering the hydraulic cylinder, thereby adjusting the moving speed of the piston rod of the hydraulic cylinder.
  • the gate valve control device includes a PLC, a self-learning fuzzy controller, and an electric servo hydraulic control valve, wherein:
  • the PLC is configured to receive the “gate theoretical speed” sent by the self-learning fuzzy controller, obtain a speed error value compared with the detected actual speed of the shutter, and adjust the electric servo hydraulic control valve according to the speed error value, that is, through PID control Realize closed loop control of the gate valve;
  • the self-learning fuzzy controller is configured to collect liquid flow rate, pipeline vibration and impact pressure in the pipeline, and calculate “the theoretical speed of the gate” according to the liquid flow velocity, pipeline vibration and impact pressure in the pipeline to be sent to the PLC ;
  • the electric servo hydraulic control valve is configured to receive a control signal of the PLC and adjust a moving speed of the shutter.
  • the closing gate process of the gate valve control device with the self-learning fuzzy controller of the embodiment of the present invention will be described below; of course, it can be understood that the control method of the embodiment It can also be used for the opening control of the shutter.
  • FIG. 9 is a closing valve of a gate valve control device with a self-learning fuzzy controller according to an embodiment of the present invention. Schematic diagram of the process, as shown in Figure 9, the process includes:
  • Step 901 Initializing a program
  • the initializing includes: starting the control device to start the main program.
  • Step 902 Turn on the gate valve closing procedure
  • control device instructs the hydraulic power unit to start.
  • Step 903 Whether to enable the self-learning function, if not, go to step 904; if it is, go to step 905.
  • Step 904 Read the preset shutter target moving speed, step 907;
  • the preset shutter target moving speed may be a graph in which the horizontal axis is time and the vertical axis is speed;
  • the graph may be determined according to calculations or experiments, or may be continuously summarized in actual use.
  • Step 905 Collect data in the pipeline
  • the data in the pipeline includes: the liquid flow velocity in the pipeline, the inner wall pressure of the pipeline, and the vibration value of the pipeline.
  • Step 906 Perform fuzzy calculation according to the data in the collected pipeline
  • the liquid flow velocity in the pipeline, the inner wall pressure of the pipeline, and the vibration value of the pipeline are input into the data model for calculation.
  • Step 907 Determine a moving speed of the shutter target
  • the target moving speed of the shutter is determined according to the preset moving speed of the shutter target or the result of the fuzzy calculation.
  • Step 908 detecting the actual moving speed of the shutter
  • the actual moving speed of the shutter is detected by the speed detecting means.
  • Step 909 Determine whether the gate valve is closed.
  • step 910 according to the actual moving speed of the shutter, it is judged whether the gate valve is closed or not, such as If the process is completed, the process ends; if not, then the process proceeds to step 910.
  • Step 910 The speed error value is less than a preset speed error threshold
  • step 911 the actual moving speed and the target moving speed are compared to obtain a speed error value. If the speed error value is less than the preset speed error threshold, the process proceeds to step 903; otherwise, the process proceeds to step 911.
  • Step 911 Perform a PID operation
  • the speed error value is subjected to a proportional-integral-differential operation to obtain a corresponding feedback control parameter.
  • Step 912 Adjust the flow rate of the servo valve
  • the flow rate of the servo valve is adjusted, that is, the moving speed of the hydraulic cylinder is adjusted;
  • step 903 is re-entered.
  • the gate valve control device of the embodiment of the invention adjusts the control parameters of the hydraulic power device according to the detection result of the detecting component, and can accurately control the movement of the hydraulic power device, thereby effectively solving the problem of poor reliability and high failure rate of the gate valve, and can effectively Avoid the occurrence of water hammer.

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  • Details Of Valves (AREA)
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Abstract

一种闸阀及闸阀控制方法，所述闸阀包括闸板（13，23）、闸阀控制装置（11，21）和驱动闸板（13，23）启闭的液压动力装置（12，22），闸阀控制装置（11，21）包括控制液压动力装置（12，22）运动的控制部件和检测所述闸阀状态的检测部件；检测部件，配置为按预设时间间隔检测闸阀的实际状态数据；控制部件，配置为根据检测部件检测到的实际状态数据调整输入液压动力装置（12，22）的控制参数，直至实际状态数据符合预设状态数据。

Description

一种闸阀及闸阀控制方法
相关申请的交叉引用
本申请基于申请号为201710558332.5、申请日为2017年7月10日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本发明涉及煤矿井下、石油管道给排水领域，具体涉及一种闸阀及闸阀控制方法。
背景技术
闸阀由于其结构简单，密封性好等优势，广泛应用于矿山等给排水系统。市场上闸阀执行机构比较常见的为手轮开关。随着闸阀向高压、大通径及自动化方向发展，手轮开关执行机构已不能满足需求。因此，出现了自动执行方案，主要通过电机旋转运动及减速机增扭，替代手轮机构，一方面可以减少劳动强度，另一方面易于实现远程控制。
但是，现有的自动执行方案还存在较多的问题：主要是带载启动困难、过载保护不易实现带来的可靠性差、故障率高的问题，其次是通过电机等自动方式启闭闸阀往往会造成严重的水锤现象，致使闸阀、管道冲击损坏。
针对上述问题，目前业界也提出有解决方案，如：公开号为CN102182838A、发明名称为“一种矿用潜水电液控制闸阀”的发明专利，不再使用电机加丝杆的传动方式，而是采用液压缸驱动闸板，省去了复杂的机械传动结构，并且通过接近开关限制闸板的极限位置，基本解决了带载启动困难和过载问题，也就解决了电机驱动闸阀带来的可靠性差、故障 率高的问题，但无法避免水锤现象的发生。
再如，公开号为CN105003715A、发明名称为“一种具有应急关阀功能的闸阀电液驱动系统及闸阀”的发明专利，通过在执行机构末端设置缓冲装置，能避免一部分水锤现象的发生，但由于缓冲装置的缓冲力是固定的，不能根据管道内具体情况调整，还是不能完全避免水锤现象。
发明内容
有鉴于此，本发明实施例期望提供一种闸阀及闸阀控制方法，能解决闸阀可靠性差、故障率高的问题，且能有效避免水锤现象的发生。
为达到上述目的，本发明的技术方案是这样实现的：
本发明实施例提供了一种闸阀，所述闸阀包括闸板、闸阀控制装置和驱动闸板启闭的液压动力装置，所述闸阀控制装置包括控制所述液压动力装置运动的控制部件和检测所述闸阀状态的检测部件；其中，
所述检测部件，配置为按预设时间间隔检测所述闸阀的实际状态数据；
所述控制部件，配置为根据检测部件检测到的实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据。
优选地，所述液压动力装置包括液压缸，所述液压缸的活塞杆与所述闸板连接。
优选地，所述控制部件为PLC，所述检测部件包括检测所述活塞杆位移的位移检测部件。
优选地，所述检测部件还包括：检测闸板移动速度的第一速度检测部件、检测管道内液体流动速度的第二速度检测部件、以及检测管道内壁压力的压力检测部件和检测管道振动值的振动检测部件。
优选地，所述液压动力装置还包括驱动电机，所述驱动电机的电机轴连接有手摇装置；
所述手摇装置包括手摇杆、建立或松开所述手摇杆与所述电机轴之间 联动连接的离合部件。
优选地，所述手摇装置还包括行星齿轮机构，所述行星齿轮机构包括箱体、内齿圈、行星架、行星齿轮和太阳齿轮；
所述内齿圈固定于所述箱体内壁，所述手摇杆与所述行星架固定连接，所述电机轴套设有所述太阳齿轮；所述离合部件配置为将所述电机轴和太阳齿轮在圆周向联动连接。
优选地，所述行星架一端设有两个行星齿轮轴，每个所述行星齿轮轴上设置有轴向排列分布、且与所述行星齿轮轴同步转动的第一行星齿轮和第二行星齿轮；
所述第一行星齿轮与所述内齿圈啮合，所述第二行星齿轮与所述太阳齿轮啮合；所述第一行星齿轮的齿数小于所述内齿圈的齿数和第二行星齿轮的齿数，所述太阳齿轮的齿数小于所述第二行星齿轮的齿数。
本发明实施例还提供了一种闸阀控制方法，所述方法包括：
在所述闸阀启动后，按预设时间间隔检测所述闸阀的实际状态数据；
根据所述实际状态数据调整输入液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据。
优选地，所述按预设时间间隔检测所述闸阀的实际状态数据，包括：
按预设时间间隔定时检测所述液压动力装置传动部件的实际位移数据。
优选地，所述根据所述实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据，包括：
将所述液压动力装置传动部件的实际位移数据与预设位移数据进行比较，获得位移误差值；
根据所述位移误差值调整输入所述液压动力装置的控制参数，直至所述位移误差值小于预设位移误差阈值。
优选地，所述按预设时间间隔检测所述闸阀的实际状态数据，还包括：
按预设时间间隔定时检测闸板的实际移动速度、管道内液体流动速度、管道内壁压力和管道振动值。
优选地，所述方法还包括：
对检测到的管道内液体流动速度、管道内壁压力和管道振动值进行模糊计算，确定所述闸板的目标移动速度。
优选地，所述根据所述实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据，还包括：
将所述闸板的实际移动速度与闸板的目标移动速度进行比较，获得速度误差值；
根据所述速度误差值调整输入所述液压动力装置的控制参数，直至所述速度误差值小于预设速度误差阈值。
优选地，所述根据所述速度误差值调整输入所述液压动力装置的控制参数，包括：
将所述速度误差值，输入比例-积分-微分控制部件，并通过所述比例-积分-微分控制部件调整输入液压动力装置的控制参数。
本发明实施例提供的闸阀及闸阀控制方法，包括闸板、闸阀控制装置和驱动闸板启闭的液压动力装置，所述闸阀控制装置包括控制所述液压动力装置运动的控制部件和检测所述闸阀状态的检测部件；所述检测部件，配置为按预设时间间隔检测所述闸阀的实际状态数据；所述控制部件，配置为根据检测部件检测到的实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据；可见，本发明实施例的闸阀控制装置，根据检测部件的检测结果调整对液压动力装置的控制参数，能精确地控制液压动力装置的运动，从而有效解决闸阀可靠性差、故障率高的问题，并能有效避免水锤现象的发生。
附图说明
图1为本发明实施例一闸阀的组成结构示意图；
图2为本发明实施例二闸阀的组成结构示意图；
图3为本发明实施例三闸阀的液压动力装置的示意图；
图4为图3中手摇装置的剖视示意图；
图5为图4中手摇装置的行星齿轮啮合示意图；
图6为本发明实施例四闸阀控制方法的流程示意图；
图7为本发明实施例五通过监控活塞杆位移来控制闸阀的流程示意图；
图8为本发明实施例六带自学习模糊控制器的闸阀控制装置的结构示意图；
图9为本发明实施例六带自学习模糊控制器的闸阀控制装置关闭闸板的流程示意图。
具体实施方式
本发明实施例提供了一种闸阀，所述闸阀包括闸板、闸阀控制装置和驱动闸板启闭的液压动力装置，所述闸阀控制装置包括控制所述液压动力装置运动的控制部件和检测所述闸阀状态的检测部件；所述检测部件，配置为按预设时间间隔检测所述闸阀的实际状态数据；所述控制部件，配置为根据检测部件检测到的实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据。
本发明实施例的原理是：检测闸阀的实际状态数据，并将检测结果反馈到闸阀控制装置，调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据；也就是说，通过负反馈的控制原理，精确的控制液压动力装置的运动；能解决闸阀可靠性差、故障率高的问题，有效避免水锤现象的发生。
为了能够更加详尽地了解本发明实施例的特点与技术内容，下面结合 附图以及具体的应用实施例对本发明做进一步的阐述，所附附图仅供参考说明之用，并非用来限定本发明实施例。
实施例一
图1为本发明实施例一闸阀的组成结构示意图，如图1所示，所述闸阀包括闸阀控制装置11、液压动力装置12和闸板13；
所述闸阀控制装置11包括：控制所述液压动力装置运动的控制部件和检测所述闸阀状态的检测部件，所述控制部件和检测部件相连接；其中，
所述检测部件，配置为按预设时间间隔检测所述闸阀的实际状态数据；
所述控制部件，配置为根据检测部件检测到的实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据。
所述液压动力装置12包括：液压泵121和液压缸122，所述液压缸122的活塞杆与所述闸板13连接，这样通过所述液压缸122活塞杆的直线往复运动，可以驱动闸板13的启闭；
相应的，本发明实施例中，所述控制部件具体可以为可编程逻辑控制器(PLC，Programmable Logic Controller)111，所述检测部件具体可以为检测所述液压缸活塞杆位移的位移检测部件112；
具体地，所述位移检测部件112可以是位移传感器，具体可以是光栅式位移传感器。
这样，基于本发明实施例，所述闸阀控制装置11通过位移检测部件112按预设时间间隔检测所述液压缸活塞杆实际位移数据，并通过所述PLC111根据检测到的所述实际位移数据调整输入所述液压动力装置12的控制参数，直至所述实际位移数据符合预设位移数据，达到精确控制控制液压动力装置12运动的目的。能解决闸阀可靠性差、故障率高的问题，有效避免水锤现象的发生。
实施例二
图2为本发明实施例二闸阀的组成结构示意图，如图2所示，所述闸阀包括闸阀控制装置21、液压动力装置22和闸板23；
所述闸阀控制装置21包括：控制所述液压动力装置22运动的控制部件和检测所述闸阀状态的检测部件，所述控制部件和检测部件相连接；其中，
所述述检测部件，配置为按预设时间间隔检测所述闸阀的实际状态数据；
所述控制部件，配置为根据检测部件检测到的实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据。
所述液压动力装置22包括：液压泵221和液压缸222，所述液压缸222的活塞杆与所述闸板23连接，这样通过所述液压缸222活塞杆的直线往复运动，可以驱动闸板23的启闭；
本发明实施例中，所述控制部件为PLC211，所述检测部件包括：位移检测部件212、第一速度检测部件213、第二速度检测部件214、压力检测部件215和振动检测部件216；其中，
所述位移检测部件212，配置为检测所述液压缸活塞杆的位移；
所述第一速度检测部件213，配置为检测闸板的移动速度；
所述第二速度检测部件214，配置为检测管道内液体流动速度；
所述压力检测部件215，配置为检测管道的内壁压力；
所述振动检测部件216，配置为检测管道的振动值。
具体地，所述位移检测部件212具体可以是位移传感器，所述第一速度检测部件213具体可以是速度传感器，所述第二速度检测部件214具体可以是流量计，先测流量再计算流速，所述压力检测部件215具体可以是压力传感器，所述振动检测部件216具体可以是振动监测器。
同实施例一，本发明实施例的闸阀控制装置能精确的控制液压动力装 置的运动，能解决闸阀可靠性差、故障率高的问题，有效避免水锤现象的发生。
进一步地，本发明实施例还设有自学习模糊控制器；
所述自学习模糊控制器，配置为对检测到的管道内液体流动速度、管道内壁压力和管道振动值进行模糊计算，确定所述闸板的目标移动速度；
具体地，所述自学习模糊控制器可以是采用模糊控制原理的模糊控制器结合闸阀控制方法制作而成。
这样，本发明实施例的闸阀控制装置通过第二速度检测部件214、压力检测部件215和振动检测部件216确定所述闸板的目标移动速度，并通过所述第一速度检测部件213按预设时间间隔检测所述闸板的实际移动速度，然后通过所述PLC211根据闸板的实际移动速度与目标移动速度的速度误差值，调整输入所述液压动力装置的控制参数，直至所述速度误差值小于预设速度误差阈值，达到精确控制控制液压动力装置运动的目的。能解决闸阀可靠性差、故障率高的问题，有效避免水锤现象的发生。
具体地，所述液压动力装置的工作原理为：驱动电机驱动液压泵221排油，排出的油进入液压缸222，驱动液压缸222的活塞杆移动，也就能启闭闸板；
进一步地，所述液压缸的内腔包括有杆腔和无杆腔，开启闸板时，活塞杆从无杆腔向有杆腔移动，关闭闸板时，活塞杆的移动方向从有杆腔向无杆腔移动；这样在电机功率和液压缸缸径不变的情况下，闸板开启时的供油量更大，因此闸阀开启闸板的开启力大于关闭闸板的关闭力，更好的利用了闸阀的动力；因为由于存在水垢等因素，导致开启闸板比关闭闸板更困难；
进一步地，所述驱动电机可以是防爆电机，这样更安全。
可以理解的是，所述液压动力装置不限于实施例一和实施例二所述液 压泵和液压缸的组合，也可以是其它能提供动力的液压设备，如液压马达加丝杆等；
所述控制部件也可以是除PLC外的其它部件，例如单片机、工业控制计算机等；所述检测部件可以根据控制的需要，设置更多的检测部件。
实施例三
图3为本发明实施例三闸阀的液压动力装置的示意图，如图3所示，所述液压动力装置包括液压泵31和液压缸32，所述液压缸32的活塞杆与闸板(图3中不可见)连接；所述闸板设置于管道33中；
所述液压泵31包括驱动电机34，所述驱动电机34的电机轴连接有手摇装置35；
所述手摇装置35，配置为停电或故障等紧急情况下的对闸阀进行手动开启或关闭；
在正常情况下，本发明实施例的液压动力装置根据闸阀控制装置的指令，启闭闸板，也就是根据闸阀控制装置的指令，通过驱动电机34驱动液压泵31排油，排出的油进入液压缸32，驱动液压缸32的活塞杆移动，也就能启闭闸板；但是在停电或故障等紧急情况下，所述液压动力装置失去动力，无法启闭闸板，需要通过手摇装置35完成闸板的启闭。
可以理解的是，手动开启或关闭所述闸阀，可以是与所述驱动电机34没有任何关联的机构，如可以是手动液压泵；相比手动液压泵，本发明实施例的手摇装置35直接与所述电机轴连接，无需另外铺设管道、电磁阀等部件，结构更简单。
图4为图3中手摇装置的剖视示意图，如图4所示，所述手摇装置35包括手摇杆351、建立或松开所述手摇杆351与电机轴341之间联动连接的离合部件352。
为使手摇装置35更有效率，所述手摇装置35还包括行星齿轮机构， 所述行星齿轮机构包括箱体353、内齿圈354、行星架355、行星齿轮和太阳齿轮356；所述内齿圈354固定于所述箱体353内壁，所述手摇杆351与所述行星架355固定连接，所述电机轴341套设有所述太阳齿轮356；所述离合部件352配置为将所述电机轴341和太阳齿轮356在圆周向联动连接。
本发明实施例中，所述行星架355一端设有两个行星齿轮轴357，两个行星齿轮轴357基于电机轴341轴对称；
每个所述行星齿轮轴357上设置有轴向排列分布、且与所述行星齿轮轴357同步转动的第一行星齿轮358和第二行星齿轮359；所述第一行星齿轮358与所述内齿圈354啮合，所述第二行星齿轮359与所述太阳齿轮356啮合；所述第一行星齿轮358的齿数小于所述内齿圈354的齿数和第二行星齿轮359的齿数，所述太阳齿轮356的齿数小于所述第二行星齿轮359的齿数。
这样，通过手摇装置35，可以获得比较大的增速比，使手摇装置35更有效率；
进一步地，所述电机轴341还套设有离合连接套342，所述离合连接套342的外圆套设所述太阳齿轮356；所述离合连接套342通过键固定在所述电机轴341上；
正常情况下，拉出手摇杆351，离合部件352松开，所述离合连接套342与所述太阳齿轮356径向脱离，这样，所述驱动电机34运转时，所述行星齿轮机构静止；
当出现停电或故障等紧急情况时，手摇杆351推入行星齿轮机构，离合部件352工作，所述离合连接套342与所述太阳齿轮356径向固定，这样，所述转动手摇杆351，通过行星齿轮机构带动所述电机轴341转动，驱动液压动力装置动作。
可以理解的是，所述手摇装置35与所述电机轴341之间也可以是其它 方式的传动连接，如普通的齿轮传动、蜗轮蜗杆传动、带传动、链传动等。
为了能够更加详尽地了解本发明实施例中手摇装置的特点与技术内容，下面以图5为例，做进一步说明：
图5为图4中手摇装置的行星齿轮啮合示意图；所述第一行星齿轮358与所述内齿圈354啮合，所述第二行星齿轮359与所述太阳齿轮356啮合；
图5中所述齿轮的模数均为2，第一行星齿轮358的齿数为8，第二行星齿轮359的齿数为29，太阳齿轮356齿数为10，内齿圈354的齿数为48，这样，传动达到18.4，也就是增速比为18.4；
具体地，所述增速比的计算过程如下：
设太阳齿轮356为齿轮1，第二行星齿轮359为齿轮2，第一行星齿轮为齿轮3，内齿圈354为齿轮4，行星架为H，根据行星齿轮传动比计算原理可得：
Figure PCTCN2017093026-appb-000001
其中，
Figure PCTCN2017093026-appb-000002
表示假设行星架静止情况下，齿轮1和齿轮4之间的传动比，n表示转速，Z表示齿数，如n1表示齿轮1的转速，Z1表示齿轮1的齿数，以此类推；
因为内齿圈固定不动，因此n4为零，由表达式(1)可得：
Figure PCTCN2017093026-appb-000003
将齿数代入计算：
Figure PCTCN2017093026-appb-000004
由(3)可得：
Figure PCTCN2017093026-appb-000005
由(4)可得：
Figure PCTCN2017093026-appb-000006
也就是表示齿轮1、即太阳齿轮356的转速是行星架355的18.4倍，而行星架355和手摇杆351是固定连接的，因此，手摇装置35的增速比18.4。
在样机测试中，在管道水压为4.5MPa时，当手摇杆351达到每秒1转的速度时，可以带动电机转动18.4转，液压缸的活塞杆可以移动1.73mm，完成整个关阀操作所用时间为104秒，能满足紧急情况下的关阀操作；
当然，速度可以通过手臂施加的转矩随时调节。
可以理解的是，行星齿轮机构中的齿轮可以根据需要，设计与本实施例不同的齿数。
为表达简洁，也符合行业规范，图5中齿轮的模数用字母M表示、齿数用字母Z表示，例如，第一行星齿轮358的模数为2，齿轮为8，可以表达为“M＝2，Z＝8”。
实施例四
图6为本发明实施例四闸阀控制方法的流程示意图，所述方法的执行主体可以是闸阀控制装置，如图6所示，所述方法包括：
步骤601：在所述闸阀启动后，按预设时间间隔检测所述闸阀的实际状态数据；
具体地，所述按预设时间间隔检测所述闸阀的实际状态数据，包括：
按预设时间间隔定时检测所述液压动力装置传动部件的实际位移数据。
更具体地，检测所述闸阀的实际状态数据的是闸阀控制装置中的检测部件，所述检测部件在检测的实际状态数据后，将所述实际状态数据发送 给闸阀控制装置中的控制部件；
这里，所述检测部件可以是位移检测部件；控制部件可以是PLC；
也就是位移检测部件会将液压动力装置传动部件的实际位移数据发送给PLC，PLC进行进一步的处理，也就是执行步骤602。
进一步地，所述按预设时间间隔检测所述闸阀的实际状态数据，还包括：
按预设时间间隔定时检测闸板的实际移动速度、管道内液体流动速度、管道内壁压力和管道振动值。
这里，检测部件可以是检测闸板移动速度的第一速度检测部件、检测管道内液体流动速度的第二速度检测部件、以及检测管道内壁压力的压力检测部件和检测管道振动值的振动检测部件；控制部件可以是PLC；
同理，检测部件将上述检测数据发送给PLC，PLC进行进一步的处理，也就是执行步骤602。
步骤602：根据所述实际状态数据调整输入液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据。
具体地，所述根据所述实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据，包括：
将所述液压动力装置传动部件的实际位移数据与预设位移数据进行比较，获得位移误差值；
根据所述位移误差值调整输入所述液压动力装置的控制参数，直至所述位移误差值小于预设位移误差阈值。
这里，所述预设位移数据可以是根据液压动力装置的传动部件在每一时间段的移动速度计算得到；而液压动力装置的传动部件在每一时间段的移动速度可以是根据计算或试验得到的；液压动力装置的传动部件在每一时间段的移动速度可以是相同的，也可以是不同的；
优选地，为了使闸阀的启闭顺利，不过载，所述液压动力装置的传动部件可以设置为：在闸板启闭开始时是慢速，中间快速，到快完成启闭时也是慢速；
进一步地，所述液压动力装置传动部件的预设位移数据可以表示为横轴为时间、纵轴为位移的曲线图；
更进一步地，所述液压动力装置传动部件的预设位移数据可以根据计算或试验确定，也可以在实际使用中不断总结运行状况确定。
所述预设位移误差阈值为根据液压缸运动的精度而设定，小于预设位移误差阈值就不必再作调整，这样更节能。
根据所述位移误差值调整输入所述液压动力装置的控制参数，可以包括：根据所述位移误差值，调整进入所述液压缸的液压油流量；具体地，调整控制参数可以通过伺服阀；
调整进入所述液压缸的液压油流量，可以调整液压缸活塞杆的移动速度，进而减少位移误差值。
进一步地，所述闸板设有压力检测部件(图中未示出)检测闸板底部的压力，以便及时停止液压动力装置的动作；同时，液压动力装置的液压管道中还设置有溢流阀，这样，在闸板的开启或关闭完成，即到达预定位置后，液压动力装置可以及时停止动作，液压管道中的液压油通过溢流阀卸荷，避免发生电机堵转、闸板过行程导致闸板或其它零部件变形的问题。
基于本发明实施例，所述液压缸活塞杆的位移可以精确的符合预设的要求，避免了滞后或超前带来的过载对液压动力装置的损伤，也可以避免液压动力装置中驱动电机的堵转，还可以根据所述液压动力装置传动部件的预设位移数据，调整所述液压动力装置传动部件的实际位移，避免水锤现象的发生。可以理解的是，为达成对液压动力装置运动的精确控制，也可以检测除液压缸活塞杆之外的其它传动部件的位移或速度。
进一步地，所述根据所述实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据，还包括：
将闸板的实际移动速度与闸板的目标移动速度进行比较，获得速度误差值；
根据所述速度误差值调整输入所述液压动力装置的控制参数，直至所述速度误差值小于预设速度误差阈值。
这里，所述闸板的实际移动速度是通过第一速度检测部件检测得到的，第一速度检测部件会将检测数据发送给PLC；
闸板的目标移动速度是对检测到的管道内液体流动速度、管道内壁压力和管道振动值进行模糊计算得到。
也就是说，所述闸板的目标移动速度是不断变化的，会根据管道内的具体情况做相应的修正。
根据上述方式确定闸板的目标移动速度，可以最大限度的避免水锤现象；所述管道内液体流动速度、管道内壁压力和管道振动值是通过试验确定的决定水锤现象的关键因素。
更具体地，根据所述速度误差值调整输入所述液压动力装置的控制参数，包括：根据所述速度误差值，运用比例-积分-微分(PID，proportion、integral、derivative)控制部件调节伺服阀的流量，进而调整液压缸的移动速度。
PID控制部件是一个在工业控制应用中常见的反馈回路部件，由比例单元P、积分单元I和微分单元D组成。PID控制的基础是比例控制；积分控制可消除稳态误差，但可能增加超调；微分控制可加快大惯性系统响应速度以及减弱超调趋势。PID控制部件适用于需要进行高精度测量控制的系统，可根据被控对象自动演算出最佳PID控制参数，使用简单易懂，不需精确的系统模型等先决条件，因而成为应用最为广泛的控制器。
所述PID控制部件可以通过PLC实现，例如可以是PLC的一个模块，也可以是单独的部件。
所述预设速度误差阈值为根据液压缸移动的精度设定，小于预设速度误差阈值就不必再作调整，这样更节能。
进一步地，所述闸阀设有自学习模糊控制器，所述自学习模糊控制器配置为对检测到的管道内液体流动速度、管道内壁压力和管道振动值进行模糊计算，获得所述闸板的目标移动速度，这样无需通过人工计算或试验确定目标移动速度，这样，确定闸板的目标移动速度更科学、更智能。
基于本发明实施例，可以最大限度的避免水锤现象，避免闸阀、管道被冲击损坏；
可以理解的是，确定闸板的目标移动速度，可以在管道内液体流动速度、管道内壁压力和管道振动值之外增加更多的监控项目。
实施例五
图7为本发明实施例五通过监控活塞杆位移来控制闸阀的流程示意图，如图7所示，所述流程包括：
步骤701：读取活塞杆的位移数据；
具体的，位移检测部件检测所述液压缸活塞杆的位移，获取活塞杆的位移数据。
步骤702：闸板开启或关闭是否完成；
本步骤中，根据活塞杆的位移数据，确定闸板开启或关闭是否完成，如果闸板开启或关闭完成，则流程结束；如果未完成，则进入步骤703。
步骤703：将位移数据发送给PLC；
具体的，将获取的活塞杆的位移数据发送给PLC。
步骤704：将位移数据与预设活塞杆位移数据比较；
具体的，将活塞杆的位移数据与预设活塞杆位移数据比较，获得位移 误差值；
步骤705：判断位移误差值是否小于预设位移误差阈值，如果位移误差值小于预设位移误差阈值，则进入步骤701；反之，进入步骤706。
步骤706：将调整指令发送给伺服阀；
具体的，将调整指令发送给伺服阀，通过伺服阀对液压缸的活塞杆进行调整。
步骤707：调整活塞杆的移动速度。
具体的，伺服阀调整进入所述液压缸的液压油流量，进而调整液压缸活塞杆的移动速度。
实施例六
图8为本发明实施例六带自学习模糊控制器的闸阀控制装置的结构示意图，如图8所示，闸阀控制装置包括PLC、自学习模糊控制器和电动伺服液控阀，其中：
所述PLC，配置为接收自学习模糊控制器发送的“闸板理论速度”，与检测的闸板实际速度比较获得速度误差值，根据速度误差值调整电动伺服液控阀，也就是通过PID控制实现对闸阀的闭环控制；
所述自学习模糊控制器，配置为采集管路中的液体流速、管路振动和冲击压力，根据管路中的液体流速、管路振动和冲击压力计算出“闸板理论速度”发送给PLC；
所述电动伺服液控阀，配置为接收PLC的控制信号，调整闸板的移动速度。
由于闸阀的关闭更容易引起水锤现象，因此，下面将介绍本发明实施例六带自学习模糊控制器的闸阀控制装置的关闭闸板流程；当然，可以理解的是，本实施例的控制方法同样也可用于闸板的开启控制。
图9为本发明实施例六带自学习模糊控制器的闸阀控制装置关闭闸板 的流程示意图，如图9所示，所述流程包括：
步骤901：初始化程序；
这里，所述初始化包括：控制装置启动，启动主程序。
步骤902：开启闸阀关闭程序；
具体是指控制装置指令液压动力装置启动。
步骤903：是否开启自学习功能，如果不开启，则进入步骤904；如果开启，则进入步骤905。
步骤904：读取预设的闸板目标移动速度，执行步骤907；
这里，所述预设的闸板目标移动速度可以是横轴为时间、纵轴为速度的曲线图；
所述曲线图可以是可以根据计算或试验确定，也可以在实际使用中不断总结运行状况确定。
步骤905：采集管道内的数据；
本发明实施例中，管道内的数据包括：管道内液体流动速度、管道内壁压力和管道振动值。
步骤906：根据采集的管道内的数据，进行模糊计算；
本步骤中，根据预设的数据模型，将管道内液体流动速度、管道内壁压力和管道振动值输入数据模型进行计算。
步骤907：确定闸板目标移动速度；
本步骤中，根据预设的闸板目标移动速度或模糊计算的结果，确定闸板目标移动速度。
步骤908：检测闸板的实际移动速度；
这里，通过速度检测部件，检测出闸板的实际移动速度。
步骤909：判断闸阀是否完成关闭；
本步骤中，根据闸板的实际移动速度，判断出闸阀是否完成关闭，如 果完成，则流程结束；如果未完成，则进入步骤910。
步骤910：速度误差值小于预设速度误差阈值；
本步骤中，比较实际移动速度和目标移动速度，得到速度误差值，如果速度误差值小于预设速度误差阈值，则进入步骤903；反之，进入步骤911。
步骤911：进行PID运算；
这里，将速度误差值进行比例-积分-微分运算，获得相应的反馈控制参数。
步骤912：调节伺服阀的流量；
这里，根据反馈控制参数，调节伺服阀的流量，也就是调整液压缸的移动速度；
步骤912执行完，重新进入步骤903。
以上所述，仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。
工业实用性
本发明实施例的闸阀控制装置，根据检测部件的检测结果调整对液压动力装置的控制参数，能精确地控制液压动力装置的运动，从而有效解决闸阀可靠性差、故障率高的问题，并能有效避免水锤现象的发生。

Claims (14)

  1. 一种闸阀，所述闸阀包括闸板、闸阀控制装置和驱动闸板启闭的液压动力装置，所述闸阀控制装置包括控制所述液压动力装置运动的控制部件和检测所述闸阀状态的检测部件；其中，
    所述检测部件，配置为按预设时间间隔检测所述闸阀的实际状态数据；
    所述控制部件，配置为根据检测部件检测到的实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据。
  2. 根据权利要求1所述的闸阀，其中，所述液压动力装置包括液压缸，所述液压缸的活塞杆与所述闸板连接。
  3. 根据权利要求1或2所述的闸阀，其中，所述控制部件为PLC，所述检测部件包括检测所述活塞杆位移的位移检测部件。
  4. 根据权利要求3所述的闸阀，其中，所述检测部件还包括：检测闸板移动速度的第一速度检测部件、检测管道内液体流动速度的第二速度检测部件、以及检测管道内壁压力的压力检测部件和检测管道振动值的振动检测部件。
  5. 根据权利要求2所述的闸阀，其中，所述液压动力装置还包括驱动电机，所述驱动电机的电机轴连接有手摇装置；
    所述手摇装置包括手摇杆、建立或松开所述手摇杆与所述电机轴之间联动连接的离合部件。
  6. 根据权利要求5所述的闸阀，其中，所述手摇装置还包括行星齿轮机构，所述行星齿轮机构包括箱体、内齿圈、行星架、行星齿轮和太阳齿轮；
    所述内齿圈固定于所述箱体内壁，所述手摇杆与所述行星架固定连 接，所述电机轴套设有所述太阳齿轮；所述离合部件配置为将所述电机轴和太阳齿轮在圆周向联动连接。
  7. 根据权利要求6所述的闸阀，其中，所述行星架一端设有两个行星齿轮轴，每个所述行星齿轮轴上设置有轴向排列分布、且与所述行星齿轮轴同步转动的第一行星齿轮和第二行星齿轮；
    所述第一行星齿轮与所述内齿圈啮合，所述第二行星齿轮与所述太阳齿轮啮合；所述第一行星齿轮的齿数小于所述内齿圈的齿数和第二行星齿轮的齿数，所述太阳齿轮的齿数小于所述第二行星齿轮的齿数。
  8. 一种闸阀控制方法，所述方法包括：
    在所述闸阀启动后，按预设时间间隔检测所述闸阀的实际状态数据；
    根据所述实际状态数据调整输入液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据。
  9. 根据权利要求8所述的方法，其中，所述按预设时间间隔检测所述闸阀的实际状态数据，包括：
    按预设时间间隔定时检测所述液压动力装置传动部件的实际位移数据。
  10. 根据权利要求9所述的方法，其中，所述根据所述实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据，包括：
    将所述液压动力装置传动部件的实际位移数据与预设位移数据进行比较，获得位移误差值；
    根据所述位移误差值调整输入所述液压动力装置的控制参数，直至所述位移误差值小于预设位移误差阈值。
  11. 根据权利要求8所述的方法，其中，所述按预设时间间隔检测所述闸阀的实际状态数据，还包括：
    按预设时间间隔定时检测闸板的实际移动速度、管道内液体流动速度、管道内壁压力和管道振动值。
  12. 根据权利要求11所述的方法，其中，所述方法还包括：
    对检测到的管道内液体流动速度、管道内壁压力和管道振动值进行模糊计算，确定所述闸板的目标移动速度。
  13. 根据权利要求12所述的方法，其中，所述根据所述实际状态数据调整输入所述液压动力装置的控制参数，直至所述实际状态数据符合预设状态数据，还包括：
    将所述闸板的实际移动速度与闸板的目标移动速度进行比较，获得速度误差值；
    根据所述速度误差值调整输入所述液压动力装置的控制参数，直至所述速度误差值小于预设速度误差阈值。
  14. 根据权利要求13所述的方法，其中，所述根据所述速度误差值调整输入所述液压动力装置的控制参数，包括：
    将所述速度误差值，输入比例-积分-微分控制部件，并通过所述比例-积分-微分控制部件调整输入液压动力装置的控制参数。
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