WO2023174357A1 - Soupape/grille électrique et dispositif d'entraînement de soupape associé - Google Patents

Soupape/grille électrique et dispositif d'entraînement de soupape associé Download PDF

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Publication number
WO2023174357A1
WO2023174357A1 PCT/CN2023/081801 CN2023081801W WO2023174357A1 WO 2023174357 A1 WO2023174357 A1 WO 2023174357A1 CN 2023081801 W CN2023081801 W CN 2023081801W WO 2023174357 A1 WO2023174357 A1 WO 2023174357A1
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WIPO (PCT)
Prior art keywords
torque
valve
asynchronous motor
real
control
Prior art date
Application number
PCT/CN2023/081801
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English (en)
Chinese (zh)
Inventor
周文
赵战国
张大鹏
赵刚
郑璐明
王泽平
王晓江
Original Assignee
北京雷蒙赛博核装备技术研究有限公司
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Publication of WO2023174357A1 publication Critical patent/WO2023174357A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
    • F16K31/04—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor
    • 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
    • F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
    • 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
    • F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
    • F16K37/0025—Electrical or magnetic means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K47/00—Means in valves for absorbing fluid energy
    • F16K47/02—Means in valves for absorbing fluid energy for preventing water-hammer or noise
    • 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
    • F16K47/023—Means in valves for absorbing fluid energy for preventing water-hammer or noise for preventing water-hammer, e.g. damping of the valve movement
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage

Definitions

  • the present invention relates to valve/gate driving technology, in particular to an electric valve/gate and its valve driver.
  • valve/door electric devices in the existing technology use the power supply to directly start the AC asynchronous motor, and use the driver to control the motor to drive the mechanical transmission mechanism to drive the valve/door to open/close the valve.
  • AC asynchronous motors are widely used in valve/gate electric devices due to their simple structure, reliable operation, light weight, cheap price and large starting torque.
  • problems during use there are the following problems during use:
  • the technical problem to be solved by the present invention is to provide an electric valve/gate and its valve driver in view of the above-mentioned defects of the prior art.
  • the present invention provides a valve driver, which includes a housing, a core controller and a variable frequency drive module installed in the housing.
  • the variable frequency drive module is connected to the core control module respectively.
  • the controller is connected to an AC asynchronous motor, wherein the core controller meets the control requirements of the valve/door by adjusting the output torque or output torque limit of the variable frequency drive module in real time.
  • the core controller includes:
  • the logic control unit sets the corresponding set torque according to the requirements of each stage of the valve/door opening and closing process, and sends the set torque to the variable frequency drive module.
  • the variable frequency drive module uses the set The torque is the output torque or the output torque limit drives the AC asynchronous motor to perform the corresponding valve/gate opening or closing action;
  • a real-time torque detection unit to obtain the real-time torque of the AC asynchronous motor or valve/gate operation
  • a torque correction unit based on the real-time torque and the set torque, using the set torque as input, using the real-time torque as feedback, and using a PID control algorithm to correct the output torque to adjust according to the real-time torque The response speed and control accuracy of the output torque.
  • the real-time torque is directly obtained through a torque sensor.
  • the torque sensor is installed on the output shaft of the AC asynchronous motor, the output shaft of the reduction transmission box or the driving mechanism, and is connected with the real-time torque detection.
  • the unit is connected to transmit the measured real-time torque signal to the real-time torque detection unit.
  • the above-mentioned valve driver wherein the real-time torque is obtained through an output current detection circuit combined with a vector transformation method.
  • the output current detection circuit detects the physical parameters of the AC asynchronous motor and transmits them to the real-time torque detection unit.
  • the real-time torque detection unit The torque detection unit calculates and obtains the real-time torque and transmits it to the torque correction unit.
  • the physical parameters include stator resistance, rotor resistance, stator and rotor mutual inductance, stator and rotor leakage inductance and no-load current.
  • the above valve driver wherein the three-phase AC signal of the AC asynchronous motor is converted into the torque component i sT of the stator current and the excitation component i sM of the stator current through coordinate transformation, and the rotor magnetic field orientation vector is respectively used according to the different magnetic field orientations.
  • Control direct torque control, slip frequency vector control, stator magnetic field oriented vector control or air gap magnetic field oriented vector control calculation to obtain the real-time torque;
  • the rotor magnetic field orientation vector control performs the magnetic field orientation according to the direction of the rotor full flux vector, and uses the following formula to obtain the real-time torque Tei :
  • n p is the number of motor pole pairs of the AC asynchronous motor
  • L md is the AC asynchronous motor.
  • L rd is the equivalent self-inductance of the one-phase winding of the rotor of the AC asynchronous motor
  • i sT is the torque component of the stator current of the AC asynchronous motor
  • ⁇ r is the rotor flux linkage of the AC asynchronous motor
  • the direct torque control uses the following formula to obtain the real-time torque Tei :
  • n p is the number of motor pole pairs of the AC asynchronous motor
  • L m is the stator and rotor mutual inductance
  • L s is the self-inductance of the stator one-phase winding
  • L r is the self-inductance of the rotor one-phase winding
  • ⁇ s is the stator magnetic field.
  • ⁇ r is the rotor flux linkage
  • ⁇ sr is the torque angle, which is the angle between the vectors ⁇ s and ⁇ r ;
  • the slip frequency vector control orients the magnetic field according to the slip frequency vector, and uses the following formula to obtain the real-time torque Tei :
  • n p is the number of motor pole pairs of the AC asynchronous motor
  • T r is the rotor electromagnetic time constant
  • L rd is the equivalent self-inductance of the rotor one-phase winding of the AC asynchronous motor
  • ⁇ r is the AC asynchronous motor
  • ⁇ s1 is the slip angular frequency
  • the stator magnetic field orientation vector control performs the magnetic field orientation according to the direction of the stator flux vector, and uses the following formula to obtain the real-time torque Tei :
  • n p is the number of motor pole pairs of the AC asynchronous motor
  • ⁇ s is the stator flux linkage of the AC asynchronous motor
  • i sT is the torque component of the stator current
  • the air gap magnetic field orientation vector control performs the magnetic field orientation according to the direction of the torque air gap flux vector, and uses the following formula to obtain the real-time torque Tei :
  • n p is the number of motor pole pairs of the AC asynchronous motor
  • ⁇ m is the air gap flux linkage
  • i sT is the torque component of the stator current.
  • the above valve driver wherein the core controller also includes:
  • the speed control unit is used to obtain the current speed of the valve using the vector control method or the feedback signal of the position sensor, correct the output speed of the AC asynchronous motor through the PID control algorithm, and superimpose it with the torque correction unit to correct the output torque. , to meet the speed requirements of each stage of opening or closing of the valve/door.
  • the above valve driver wherein the core controller also includes:
  • a position control unit configured to determine whether the position node of each stage of the valve/door opening or closing process has been reached according to the feedback signal of the position sensor, and further adjust the output torque according to the judgment result to meet the requirements of the valve/door. Turn on or off the control logic of each stage and the requirements for stop position accuracy.
  • the position sensor is a full-stroke sensor and/or a point sensor to achieve full-stroke high-precision position control or accurate start/end position control.
  • the position sensor is installed on the output shaft of the AC asynchronous motor, the output shaft of the reduction transmission box or the driving mechanism, and is connected to the core controller.
  • the above valve driver wherein the core controller also includes:
  • a torque calibration unit is connected to a torque calibration device, and performs torque calibration on the AC asynchronous motor through the torque calibration device to correct the output torque of the AC asynchronous motor.
  • the present invention also provides an electric valve/gate, including a valve/gate, a transmission device, an AC asynchronous motor and a valve driver.
  • the AC asynchronous motor communicates with the valve/gate through the transmission device.
  • the valve driver is connected to the AC asynchronous motor, and controls the opening and closing of the valve/door through the AC asynchronous motor, wherein the valve driver is the above-mentioned valve driver, and the valve driver is connected to the AC asynchronous motor.
  • the AC asynchronous motor is an integrated connection piece; or the valve driver and the AC asynchronous motor are arranged separately and connected through cables or wirelessly.
  • This invention can realize precise control of the torque, speed and position of ordinary AC asynchronous motors according to the load changes of the switching valve/door throughout the stroke by optimizing the matching parameters of speed and torque, thereby ensuring that the valve/door is "closed tightly” and " “Stop accurately” and “Open”; at the same time, based on the starting phase, acceleration phase, uniform speed phase, deceleration phase, slow approach phase, torque control phase and stop phase of the valve/door displacement, phased combination control can be achieved to meet It meets the requirements of quick opening and closing of valves/doors, elimination of water hammer, regulating valve operating conditions, and fault response; through short-term “overfrequency” (overspeed) and “overcurrent” (overtorque), valve drivers can be selected compared to existing technologies. Smaller AC asynchronous motors can reduce product volume and weight, reduce costs, and improve the dynamic characteristics of the pipeline system; while improving the load smoothness control of ordinary AC asynchronous motors, it can also reduce the impact on the power grid.
  • Figure 1 is a schematic structural diagram of an electric valve/door according to an embodiment of the present invention.
  • Figure 2 is a schematic structural diagram of an electric valve/door according to another embodiment of the present invention.
  • Figure 3 is a structural block diagram of an electric valve/door according to an embodiment of the present invention.
  • Figure 4 is a structural block diagram of a valve driver according to an embodiment of the present invention.
  • Figure 5 is a structural block diagram of a valve driver according to another embodiment of the present invention.
  • FIG. 6 is an equivalent circuit diagram of stator resistance identification according to an embodiment of the present invention.
  • Figure 7 is an equivalent circuit of motor T according to an embodiment of the present invention.
  • Figure 8 is a motor inverse ⁇ equivalent circuit according to an embodiment of the present invention.
  • FIG. 9 is a diagram illustrating the corresponding relationship between the set torque and the output torque in torque calibration according to an embodiment of the present invention.
  • reference signs 1 valve/door 2 transmission device 21 reduction transmission box 22 drive mechanism 3AC asynchronous motor 4 valve driver 41 logic control module 42 frequency conversion control module 43 variable frequency drive module 44 core controller 45 signal conversion module/IO module 46 detection and protection modules 47 temperature control module 48 human-computer interaction module 5Torque calibration device 6 position sensors 7Torque sensor 8 power supply
  • Figure 1 is a schematic structural diagram of an electric valve/door according to one embodiment of the present invention.
  • Figure 2 is a schematic structural diagram of an electric valve/door according to another embodiment of the present invention.
  • Figure 3 is a schematic diagram of an electric valve/door according to one embodiment of the present invention.
  • the electric valve or electric door of the present invention includes a valve/door 1, a transmission device 2, an AC asynchronous motor 3 and a valve driver 4.
  • the AC asynchronous motor 3 is connected to the valve/door 1 through the transmission device 2, so
  • the valve driver 4 is connected to the power supply 8 and the AC asynchronous motor 3 respectively, and controls the opening and closing of the valve/door 1 through the AC asynchronous motor 3.
  • the transmission device 2 may include a reduction transmission box 21 and a driving mechanism 22.
  • the reduction transmission The box 21 is respectively connected to the output shaft of the AC asynchronous motor 3 and the input end of the driving mechanism 22.
  • the output end of the driving mechanism 22 is connected to the valve/gate 1 to realize the driving of the valve/gate 1.
  • the valve driver 4 and the AC asynchronous motor 3 can be an integral connection piece (see Figure 1); or the valve driver 4 and the AC asynchronous motor 3 can be installed separately and connected through cables or wirelessly (see Figure 2 ), the mechanical drive and the electrical drive can be separated to meet the requirements of harsh application environments such as small installation space, high temperature, radiation, high humidity, strong magnetic interference, etc.
  • FIG. 4 is a structural block diagram of the valve driver 4 according to one embodiment of the present invention
  • Figure 5 is a structural block diagram of the valve driver 4 according to another embodiment of the present invention.
  • the valve driver 4 of the present invention includes a housing, a core controller 44 and a variable frequency drive module 43 installed in the housing.
  • the variable frequency drive module 43 is connected to the core controller 44 and the AC asynchronous motor 3 respectively, so
  • the core controller 44 adjusts the output torque or output torque limit of the variable frequency drive module 43 in real time to meet the response speed and control accuracy requirements of the valve/gate 1 .
  • the core controller 44 serves as the signal judgment and logic control core, preferably a microcontroller and a DSP, and can be equipped with a logic processor, IO system, internal bus, etc.; the variable frequency drive module 43 serves as the basic module of vector frequency conversion control and can be equipped with a digital signal processor , power conversion circuit, power drive circuit, etc.
  • the valve driver 4 can also include a wireless communication module, a detection and protection module 46, an IO module, a human-computer interaction module 48, a field bus module, a measurement conversion module, a temperature control module 47, and a power supply battery. and cable plug-ins, etc.
  • the wireless communication module is used for connection and information exchange with remote controls and external portable devices.
  • the detection and protection module 46 is used for rectification, filtering, inversion and other electric energy conversion when driving the AC asynchronous motor 3, and may include a rectification circuit , DC circuit, inverter circuit, detection circuit, etc.;
  • IO module is used for connection, conversion and protection of input and output signals, and can include IO power supply circuit, digital input circuit, digital output circuit, analog input circuit, analog output Circuits, etc.;
  • the human-computer interaction module 48 is used for inputting parameters and instructions and displaying operating status and alarm information, and can include a display screen and button panel, etc.;
  • the fieldbus module is used for information exchange with the host computer and external monitoring equipment, and can include Modbus bus, CAN bus, etc.;
  • the measurement conversion module is
  • the core controller 44 of this embodiment includes: a logic control unit for setting the corresponding set torque according to the requirements of each stage of the opening and closing process of the valve/door 1; sending the set torque to the
  • the variable frequency drive module 43 uses the set torque as the output torque or the output torque limit to drive the AC asynchronous motor 3 to perform the corresponding opening or closing action of the valve/door 1;
  • the real-time torque detection unit uses To obtain the real-time torque of the operation of the AC asynchronous motor 3 or the valve/gate 1;
  • a torque correction unit based on the real-time torque and the set torque, using the set torque as input and the real-time torque as feedback,
  • the PID control algorithm is used to correct the output torque, and the corrected output torque is sent to the variable frequency drive module 43 to adjust the response speed and control accuracy of the output torque according to the real-time torque.
  • the core controller 44 can be divided into a logic control module 41 and a frequency conversion control module 42.
  • the logic control module 41 is connected to the frequency conversion drive module 43 through the frequency conversion control module 42.
  • the above-mentioned logic Each unit such as the control unit, real-time torque detection unit, and torque correction unit can be integrated in the logic control module 41 or the frequency conversion control module 42; the logic control module 41 can be used for logic control of the entire machine, and can store and execute control programs.
  • the control module 41 can use a microcontroller, DSP, PLC, etc., and can include a program memory, a data memory, a central processing unit (CPU), an IO interface, an internal bus, etc.
  • the frequency conversion control module 42 can be built by a single-chip microcomputer or a DSP chip and peripheral circuits. It is used to generate the motor's characteristic parameters and torque vector control algorithm, and drives the AC asynchronous motor 3 with the cooperation of the inverter circuit. It can include a program memory, a data memory, and a central processing unit. processor (CPU), IO interface and internal bus, etc.
  • the logic control module 41 and the variable frequency control module 42 can be integrated into the core controller 44 , and the core controller 44 and the variable frequency drive module 43 can also be integrated into one, that is, the valve driver 4
  • the logic control, frequency conversion control and drive output functions can be separately arranged on different modules, or can be combined and integrated into one module.
  • the present invention does not limit the structure, composition and integration method of the specific functional modules inside the valve driver 4. As long as the function of real-time adjustment of the output torque or output torque limit of the variable frequency drive module 43 can be realized to meet the response speed and control accuracy requirements of the valve/gate 1.
  • the real-time torque can be directly obtained through a torque sensor 7 , which can be installed on the output shaft of the AC asynchronous motor 3 , the output shaft of the reduction transmission box 21 or the driving mechanism 22
  • the input shaft or the output shaft is connected to the real-time torque detection unit, and the real-time torque signal measured by it is transmitted to the real-time torque detection unit for torque correction.
  • the real-time torque is preferably obtained through an output current detection circuit combined with a vector transformation method.
  • the output current detection circuit detects the physical parameters of the AC asynchronous motor 3 and transmits them to the real-time torque detection unit.
  • the real-time torque detection unit obtains the real-time torque through calculation and transmits it to the torque correction unit.
  • the physical parameters may include stator resistance, rotor resistance, stator and rotor mutual inductance, stator and rotor leakage inductance and no-load current.
  • the three-phase AC signal of the AC asynchronous motor 3 can be converted into the torque component i sT of the stator current and the excitation component i sM of the stator current through coordinate transformation, and the rotor magnetic field oriented vector control and direct control are respectively adopted according to the different magnetic field orientations.
  • the real-time torque is calculated by torque control, slip frequency vector control, stator magnetic field oriented vector control or air gap magnetic field oriented vector control. That is to say, vector torque control is used as the output method, the detection result of the torque detection circuit (in this embodiment, preferably the output current detection circuit) is used as the feedback signal, and the output torque is adjusted and controlled through PID closed loop, so that the drive valve/door 1 actually operates.
  • the output torque operates within the range of the set torque, which is the expected value.
  • the present invention can also use the valve driver 4 to identify the physical parameters of the AC asynchronous motor 3 in advance.
  • the stator resistance, rotor resistance, stator and rotor mutual inductance, and stator and rotor leakage inductance of the AC asynchronous motor 3 are Collect other parameters to ensure the accuracy of the basic parameters in torque vector control.
  • the core controller 44 may also include a physical parameter identification unit for obtaining the physical parameters of the AC asynchronous motor 3 to perform more accurate torque vector control on the AC asynchronous motor 3 .
  • the no-load current is used to estimate the torque consumption (such as friction, ventilation, core loss, etc.) of the AC asynchronous motor 3 during operation and to compensate its output torque.
  • the no-load current is preferably 20% to 50% of the rated current of the motor. .
  • This embodiment uses the output current detection circuit in the core controller 44 for parameter detection, and collects real-time torque (which can be calculated from the equivalent self-inductance of the rotor, the equivalent mutual inductance of the rotor, the rotor flux linkage, the stator current torque component, etc.) as the feedback quantity. , and uses the PID control principle to perform closed-loop control and correction of the output torque, and finally realizes torque vector control to ensure the torque response speed and control accuracy during the operation of the valve/gate 1.
  • the stator resistance of this embodiment can be obtained in the following way:
  • V ⁇ dc DC voltage
  • stator current stator resistance
  • stator resistance Due to the influence of the voltage drop of the switching tube, the actual voltage applied to the stator will produce a certain error. In order to eliminate the error, multiple different voltage signals can be applied, and the slope of the stator voltage and stator current is taken as the stator resistance.
  • the rotor resistance, stator and rotor mutual inductance, and stator and rotor leakage inductance in this embodiment can be obtained in the following ways:
  • the electromagnetic phenomena of the AC asynchronous motor 3 under the excitation of a single-phase sinusoidal signal are basically the same as those under the excitation of a three-phase sinusoidal signal. They can be identified by this method. At the same time, the motor torque is zero at this time and the motor remains stationary.
  • the motor equivalent circuit can be replaced by a three-phase equivalent circuit.
  • p is the differential operator
  • R 1 is the stator resistance
  • R r is the rotor resistance
  • L s ⁇ is the stator leakage inductance
  • L r ⁇ is the rotor leakage inductance
  • L m is the stator and rotor mutual inductance
  • ⁇ is the rotor speed, cage rotor
  • the output W phase is disconnected, and the U phase and V phase control the on and off of the inverter according to the H-bridge sinusoidal voltage quenching and tempering signal, thereby generating a sinusoidal voltage excitation signal.
  • the sinusoidal voltages of the U phase and V phase are Then the phase voltage and phase current in the AC asynchronous motor 3 satisfy the following relationship:
  • V Un , V Vn , and V wn are the relative midpoint voltages of U-phase, V-phase, and W respectively.
  • FIG. 8 is an inverse ⁇ equivalent circuit diagram of a motor according to an embodiment of the present invention. It is a circuit after equivalent changes are made to T. After the changes, the relationship between the circuit parameters and T-type equivalent circuit parameters is:
  • the rotor magnetic field orientation vector control is preferably adopted, the magnetic field orientation is performed according to the direction of the rotor's full flux linkage vector, and the real-time torque Te is obtained using the following formula:
  • n p is the number of motor pole pairs of the AC asynchronous motor 3
  • L md is the equivalent mutual inductance of one phase winding when the stator and rotor of the AC asynchronous motor 3 are coaxial
  • L rd is the The equivalent self-inductance of the rotor one-phase winding
  • i sT is the torque component of the stator current of the AC asynchronous motor 3
  • ⁇ r is the rotor flux linkage of the AC asynchronous motor 3 .
  • ⁇ rM is the M-axis component of the rotor's full flux linkage
  • ⁇ rT is the T-axis component of the rotor's full flux linkage
  • i rM is the M-axis component of the rotor current
  • i rT is the T-axis component of the rotor current
  • n p is the number of pole pairs of the motor
  • i rT is the equivalent mutual inductance of one phase winding when the stator and rotor are coaxial
  • i sT is the torque component of the stator current
  • ⁇ r is the rotor flux linkage
  • p is the differential operator
  • i sM is the excitation component of the stator current.
  • direct torque control can also be used, and the real-time torque Te is obtained using the following formula:
  • n p is the number of motor pole pairs of the AC asynchronous motor 3
  • L m is the stator and rotor mutual inductance
  • L s is the self-inductance of the stator one-phase winding
  • L r is the self-inductance of the rotor one-phase winding
  • ⁇ s is the stator Flux linkage
  • ⁇ r is the rotor flux linkage
  • ⁇ sr is the torque angle, which is the angle between the vectors ⁇ s and ⁇ r .
  • This direct torque control is based on the mathematical model of the stator shaft system and uses the space vector analysis method to achieve motor control. Its control principle is as follows:
  • u s is the stator shaft system voltage vector.
  • ⁇ sr is the torque angle, which is the angle between the vectors ⁇ s and ⁇ r .
  • slip frequency vector control can be used to orient the magnetic field according to the slip frequency vector, and obtain the real-time torque Tei using the following formula:
  • n p is the number of motor pole pairs of the AC asynchronous motor 3
  • T r is the rotor electromagnetic time constant
  • L rd is the equivalent self-inductance of the rotor one-phase winding of the AC asynchronous motor 3
  • ⁇ r is the rotor magnetic chain
  • ⁇ s1 is the slip angular frequency.
  • Slip frequency vector control can be carried out based on the rotor magnetic field directional vector control. Its control principle is as follows:
  • ⁇ s1 is the slip angular frequency.
  • n p is the number of motor pole pairs of the AC asynchronous motor 3
  • ⁇ s is the stator flux linkage of the AC asynchronous motor 3
  • isT is the torque component of the stator current of the AC asynchronous motor 3 .
  • the magnetic field is oriented according to the direction of the stator flux vector.
  • ⁇ s is the stator flux
  • ⁇ sM is the M-axis component of the stator's full flux
  • ⁇ sT is the T-axis component of the stator's full flux
  • Equation (2-13) is the decoupler module algorithm, which can directly calculate the stator flux vector ⁇ s through the voltage and current detected on the stator side, thereby achieving decoupling.
  • n p is the number of motor pole pairs of the AC asynchronous motor 3
  • ⁇ m is the air gap flux linkage
  • isT is the torque component of the stator current.
  • the magnetic field is oriented according to the direction of the air gap flux linkage vector.
  • the core controller 44 may also include:
  • the torque calibration unit is connected to the torque calibration device 5 and performs torque calibration on the AC asynchronous motor 3 through the torque calibration device 5 for correcting the output torque of the AC asynchronous motor 3 . That is to say, the present invention can regularly adopt torque calibration to eliminate the adverse effects of the above factors and achieve long-term stability of the system torque control accuracy.
  • the AC asynchronous motor 3 can be connected to the valve driver 4. After correctly setting the basic parameters of the system and performing parameter identification, select no less than 10 torque values evenly distributed within the range of 10% to 200% of the rated torque of the AC asynchronous motor.
  • the valve driver 4 changes the set torque of the AC asynchronous motor 3 point by point according to the calibration logic and drives the AC asynchronous motor 3 to load, and the load covers 0 to the maximum output torque of the AC asynchronous motor 3; then the torque is calibrated
  • the device 5 is installed and fixed on the output shaft of the AC asynchronous motor 3, and is connected to the valve driver 4 through a wired signal cable or a wireless communication module.
  • the torque calibration device 5 is used to detect the corresponding points of each point of the AC asynchronous motor 3 using the torque calibration method.
  • the output torque of the set torque is recorded and recorded; the above loading process of each detection point is repeated no less than 3 times and the arithmetic average is taken as the output torque detection result of this detection point; and the above test data is counted and analyzed by the valve driver 4, Compare the set torque and the corresponding output torque deviation and generate a set of statistical data. Based on the statistical data, generate a chart display or output of the corresponding relationship between the set torque and the corresponding output torque at each level (the display results can be charts and curves, and necessary prompt information for confirmation), used to correct the output torque of the AC asynchronous motor 3. After the relevant corresponding chart is confirmed, the valve driver 4 can perform corrections to obtain a more accurate output torque in the torque control stage.
  • This embodiment only takes the comparison between the set torque and the corresponding output torque as an example.
  • the following table takes an AC asynchronous motor 3 with a rated power of 0.55kW, a rated speed of 1450rpm, and a rated torque of 3.6Nm as an example.
  • controlling and correcting the low speed and locked-rotor torque of the AC asynchronous motor 3 can achieve accurate sealing pressure during the closing process of the valve/door 1.
  • the locked-rotor torque error of the AC asynchronous motor 3 is preferably controlled at ⁇ 10% of the rated torque ( Preferably within the range of ⁇ 4%) to stably and effectively control the sealing specific pressure of the valve/door 1 to close.
  • the discrete detection point data in the statistical table can also be integrated into a piecewise function describing the relationship between the set torque and the corresponding output torque (as shown in Figure 9, which is a relatively continuous, first-order polyline segment with different slopes) , for query and use in the torque control process.
  • the above data describes the relationship between the set torque and the output torque of the AC asynchronous motor 3 with evenly distributed and sufficiently dense feature points.
  • the error between the set torque and the output torque is within the range of ⁇ 10% (preferably ⁇ 4%), and there is Good linear relationship; when the set torque exceeds the rated torque, the error increases.
  • the relationship between the set torque and the output torque can be expressed in the form of a piecewise straight line equation and used to correct the output torque. Since the test results in the correspondence table are discrete data, in actual use, the data between the test points is inserted and supplemented by the line segment equation between two adjacent points.
  • x is the set torque
  • y is the output torque
  • piecewise equations can be used to correspond the set torque and the output torque, so as to achieve the purpose of correcting the output value and accurately controlling the torque.
  • the core controller 44 may also include: a speed control unit, used to obtain the current speed of the valve by using the method of current detection combined with vector transformation or the feedback signal of the position sensor 6.
  • the PID control algorithm corrects the output speed of the AC asynchronous motor 3 and superimposes it with the calculation result of the torque correction unit to further correct the output torque to meet the speed requirements of each stage of opening or closing of the valve/gate 1 .
  • the core controller 44 may further include: a position control unit, configured to determine whether each step of the opening or closing process of the valve/door 1 has been reached based on the feedback signal of the position sensor 6 .
  • the position node of the stage is determined, and the output torque is further adjusted based on the judgment result combined with the feedback results of the speed control unit and torque correction unit to meet the control logic and stop position accuracy requirements of each stage of opening or closing of the valve/gate 1.
  • the position, speed, and torque of the valve/gate 1 can be monitored in real time. According to the nesting relationship, a nested control mode of torque loop, speed loop, and position loop can be used from the inside out.
  • the torque loop directly affects Torque, fast response and high precision, can meet the requirements of real-time control of motor output torque;
  • the speed loop works on the basis of the torque loop, and obtains the current value of valve/gate 1 from the feedback of valve driver 4 or position sensor 6 through the basic principle of vector control speed, and exerts influence through the torque loop to meet the speed requirements at different stages;
  • the position loop works on the basis of the speed loop and torque loop as an optional and supplementary item, and is the outermost adjustment, which is based on the valve driver 4 or the position sensor 6 feedback to judge and adjust the output to meet the requirements of control logic and stop position accuracy.
  • the position sensor 6 may be a full-stroke sensor and/or a point sensor to achieve full-stroke high-precision position control or accurate start/end position control.
  • the position sensor 6 can be installed on the output shaft of the AC asynchronous motor 3, the output shaft of the reduction transmission box 21 or the input shaft or output shaft of the driving mechanism 22, and communicates with the core controller through the signal conversion module/IO module 45 connect.
  • the invention is compatible with full-stroke sensors and point-type sensors, and is suitable for combinations of full-stroke sensors, point-type sensors, full-stroke sensors and point position sensors 6 .
  • the selection of the position sensor 6 is related to the type of the valve/gate 1, the mechanical structural characteristics of the valve/gate 1, the use environment of the valve/gate 1, and the production technology level of the valve/gate 1.
  • valve driver 4 Change does not depend on the valve driver 4 Change according to needs.
  • the different stages of valve/door 1 execution are accurately divided according to continuous position signals (the present invention can include a starting stage, an acceleration stage, a uniform speed stage, a deceleration stage, a slow approach stage, and a torque control stage). and stop phase, etc.), reasonably control the starting position, end position, speed, torque, acceleration, deceleration and other parameters of each process to achieve the expected execution effect.
  • the invention cooperates with different interface conversion hardware and can be adapted to various types of full-stroke sensors.
  • node-type sensors still occupy a certain proportion in valve actuator systems due to their low cost, easy installation, and strong environmental adaptability.
  • the different processes performed by the valve are limitedly identified and divided based on discrete node position signals, and the execution results of opening or closing are guaranteed while ensuring safety.
  • the node point-type sensor acts as a protection device or safety redundant device for safety protection of extreme or special positions.
  • the valve driver 4 of the present invention can be used to control the opening and closing of various valves/doors 1, such as sliding doors, swing doors, revolving doors, shutter doors, gate valves, globe valves, ball valves, butterfly valves, plug valves, air valves, etc. Control requirements of working conditions.
  • the regulating valve achieves control of different flow characteristics by accurately adjusting the opening of the valve/gate 1 or the process movement speed, such as equal percentage control characteristics, direct control characteristics, quick opening control characteristics, and parabolic control characteristics. For the positioning of any position in the middle of the regulating valve, each adjustment can be regarded as a complete working movement process.
  • the switching angle of a ball valve changes from 45° to 60° during flow adjustment
  • the working process it goes through is the starting stage, acceleration stage, uniform speed stage, deceleration stage, approach stage and stop stage.
  • the switching valve needs to realize the switching action at a certain speed and needs to ensure the sealing when closing. Therefore, compared with the regulating valve, it can increase the torque control process.
  • the closing process of the gate valve can be divided into starting stage, acceleration stage, uniform speed stage, and deceleration. phase, slow approach phase, torque control phase and stop phase.
  • the present invention uses the valve driver 4 to perform torque vector control, torque calibration and motor parameter identification on the AC asynchronous motor 3, which can respectively realize dynamic control of the output torque and static correction of the set torque; in a multiple PID nesting manner, from the inside out.
  • Servo control is used to ensure that the execution process of the valve/gate 1 is rapid and precise, and the execution results are accurate and effective. That is, the external nested speed closed loop and position closed loop are used to nest the torque closed loop (such as current closed loop).
  • the acceleration phase, uniform speed phase, deceleration phase, slow speed approach phase, torque control phase and stop phase can realize phased combination control, and match different control strategies according to the various working conditions of the valve/gate at the use site, such as opening /Close valve efficiency (time) priority, open/close valve position accuracy priority, open/close valve torque accuracy priority, open/close valve safety priority, open/close valve pipeline safety priority, open/close valve priority
  • opening /Close valve efficiency (time) priority open/close valve position accuracy priority
  • open/close valve torque accuracy priority open/close valve safety priority
  • open/close valve pipeline safety priority open/close valve priority
  • open/close valve priority open/close valve priority
  • the stability of the pipeline system is given priority to meet the requirements of quick opening and closing, water hammer elimination, regulating valve working conditions, and fault response.
  • AC asynchronous motors 3 can be selected, thereby reducing product volume and weight and cost, and improving the dynamic characteristics of the pipeline system; achieving While controlling the load smoothness of ordinary AC asynchronous motor 3, it can also reduce the impact on the power grid.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

Soupape/grille électrique et dispositif d'entraînement de soupape associé, la soupape/grille électrique comprenant le dispositif d'entraînement de soupape. Le dispositif d'entraînement de soupape comprend un boîtier, un dispositif de commande central et un module d'entraînement à fréquence variable. Le dispositif de commande de noyau règle un couple de sortie ou une limite de couple de sortie du module d'entraînement à fréquence variable en temps réel, de façon à satisfaire des exigences de vitesse de réponse de soupape et de précision de commande, et comprend : une unité de commande logique, réglant un couple de consigne correspondant selon un processus d'ouverture et de fermeture d'une soupape/grille, et envoyant le couple réglé au module d'entraînement à fréquence variable, de façon à entraîner un moteur asynchrone à courant alternatif à l'aide du couple défini en tant que couple de sortie ou de la limite de couple de sortie, à exécuter une action d'ouverture ou de fermeture de soupape/grille correspondante ; une unité de détection de couple en temps réel, acquérant un couple de fonctionnement en temps réel du moteur asynchrone à courant alternatif ou de la soupape/grille ; et une unité de correction de couple, corrigeant le couple de sortie à l'aide d'un algorithme de commande PID en fonction du couple en temps réel et du couple défini, c'est-à-dire, à l'aide du couple défini en tant qu'entrée et utilisant le couple en temps réel en tant que rétroaction, de façon à régler immédiatement le couple de sortie.
PCT/CN2023/081801 2022-03-17 2023-03-16 Soupape/grille électrique et dispositif d'entraînement de soupape associé WO2023174357A1 (fr)

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JP2004062537A (ja) * 2002-07-29 2004-02-26 Japan Atom Power Co Ltd:The 電動弁の遠隔診断システム
CN101852661A (zh) * 2009-03-31 2010-10-06 项美根 阀门扭矩连续测试装置及其测试方法
CN102003563A (zh) * 2010-12-15 2011-04-06 天津埃柯特阀门控制设备有限公司 一种智能型阀门电动执行机构控制器
CN104455641A (zh) * 2014-12-04 2015-03-25 天津埃柯特测控技术有限公司 检测级执行机构
CN107859770A (zh) * 2016-09-22 2018-03-30 上海城投原水有限公司 一种阀门控制方法及一种电动开阀器
CN112113019A (zh) * 2020-09-17 2020-12-22 北京雷蒙赛博机电技术有限公司 一种阀门执行器自动控制方法
CN113406895A (zh) * 2020-02-28 2021-09-17 南京理工大学 一种智能阀门电动执行机构的控制系统构建方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004062537A (ja) * 2002-07-29 2004-02-26 Japan Atom Power Co Ltd:The 電動弁の遠隔診断システム
CN101852661A (zh) * 2009-03-31 2010-10-06 项美根 阀门扭矩连续测试装置及其测试方法
CN102003563A (zh) * 2010-12-15 2011-04-06 天津埃柯特阀门控制设备有限公司 一种智能型阀门电动执行机构控制器
CN104455641A (zh) * 2014-12-04 2015-03-25 天津埃柯特测控技术有限公司 检测级执行机构
CN107859770A (zh) * 2016-09-22 2018-03-30 上海城投原水有限公司 一种阀门控制方法及一种电动开阀器
CN113406895A (zh) * 2020-02-28 2021-09-17 南京理工大学 一种智能阀门电动执行机构的控制系统构建方法
CN112113019A (zh) * 2020-09-17 2020-12-22 北京雷蒙赛博机电技术有限公司 一种阀门执行器自动控制方法

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