CN107269864A - A kind of gate valve and gate valve control method - Google Patents
A kind of gate valve and gate valve control method Download PDFInfo
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- CN107269864A CN107269864A CN201710558332.5A CN201710558332A CN107269864A CN 107269864 A CN107269864 A CN 107269864A CN 201710558332 A CN201710558332 A CN 201710558332A CN 107269864 A CN107269864 A CN 107269864A
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- Prior art keywords
- gate valve
- flashboard
- power unit
- hydraulic power
- detection part
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Classifications
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Indication Of The Valve Opening Or Closing Status (AREA)
- Fluid-Driven Valves (AREA)
- Details Of Valves (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of gate valve and gate valve control method, the gate valve includes the hydraulic power unit that flashboard, gate valve control device and driving flashboard are opened and closed, and the gate valve control device includes the control unit for controlling the hydraulic power unit motion and the detection part for detecting the gate valve state；The detection part, the virtual condition data of the gate valve are detected for being spaced at preset timed intervals；The control unit, the virtual condition data point reuse for being detected according to detection part inputs the control parameter of the hydraulic power unit, until the virtual condition data fit preset state data.
Description
Technical field
The present invention relates to underground coal mine, petroleum pipeline plumbing field, and in particular to a kind of gate valve and gate valve control method.
Background technology
Gate valve is simple in construction due to its, the advantage such as good airproof performance, is widely used in the supply and drain water systems such as mine.Market brake application
Valve actuating mechanism is relatively common for handwheel switch.As gate valve develops to high pressure, big orifice and automation direction, handwheel switch
Executing agency can not meet demand.Therefore, occur in that and carry into execution a plan automatically, mainly increased by motor rotary motion and reductor
Turn round, substitute handwheel, on the one hand can reduce labor intensity, on the other hand be easily achieved remote control.
But, existing automatic the problem of also the having more that carry into execution a plan：Mainly band carries difficulty in starting, overload protection not
The poor reliability brought easily is realized, the problem of fault rate is high, next to that often being made by the automated manner such as motor opening and closing gate valve
Into serious water hammer, gate valve, pipeline impact failure are caused.
In view of the above-mentioned problems, industry is it is also proposed that have solution, such as at present：Publication No. CN102182838A, invention name
Referred to as the patent of invention of " a kind of submersible electrohydraulic control gate valve for mining ", does not use the kind of drive of motor plus screw mandrel, but adopts
Driven by Hydraulic Cylinder flashboard is used, the mechanical transmission structure of complexity is eliminated, and by the extreme position of proximity switch limitation flashboard,
Substantially solve band and carry difficulty in starting and overload problem, also just solve poor reliability, fault rate that motor driving gate valve is brought
High the problem of, but the generation of water hammer can not be avoided.
For another example, Publication No. CN105003715A, a kind of entitled " electro-hydraulic drive of gate valve with emergent pass valve function
The patent of invention of dynamic system and gate valve ", by setting buffer unit in executing agency end, is avoided that a part of water hammer
Occur, but because the cushion effect of buffer unit is fixed, it is impossible to adjusted, still can not kept away completely according to concrete condition in pipeline
Exempt from water hammer.
The content of the invention
In view of this, the embodiment of the present invention is expected to provide a kind of gate valve and gate valve control method, can solve gate valve reliability
Difference, the problem of fault rate is high, and the generation of water hammer can be prevented effectively from.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
The embodiments of the invention provide a kind of gate valve, the gate valve includes flashboard, gate valve control device and driving flashboard and opened
The hydraulic power unit closed, the gate valve control device includes controlling control unit and the detection of the hydraulic power unit motion
The detection part of the gate valve state；Wherein,
The detection part, the virtual condition data of the gate valve are detected for being spaced at preset timed intervals；
The control unit, the virtual condition data point reuse for being detected according to detection part inputs the hydraulic power
The control parameter of device, until the virtual condition data fit preset state data.
Preferably, the hydraulic power unit includes hydraulic cylinder, and the piston rod of the hydraulic cylinder is connected with the flashboard.
Preferably, the control unit is PLC, and the detection part includes detecting the displacement detecting of the piston rod displacement
Part.
Preferably, the detection part also includes：Detect First Speed detection part, the detection pipeline of flashboard translational speed
The second speed detection part of interior liquid flow velocity and the pressure detecting part and detection pipeline for detecting pipeline inner wall pressure
The vibration detection part of vibration values.
Preferably, the hydraulic power unit also includes motor, and the motor shaft of the motor is connected with hand
Device；
The manual setter includes joystick, sets up or unclamp what is be connected between the joystick and the motor shaft
Clutch part.
Preferably, the manual setter also includes planetary gears, and the planetary gears includes casing, internal tooth
Circle, planet carrier, planetary gear and central gear；
The ring gear is fixed on the cabinet wall, and the joystick is fixedly connected with the planet carrier, the motor
Axle sleeve is provided with the central gear；The clutch part is used for the motor shaft and central gear in circumference to being connected.
Preferably, described planet carrier one end is provided with axle provided with two planetary gear shafts in each planetary gear shaft
To arranged distribution and with the first planetary gear and the second planetary gear of the planetary gear shaft synchronous axial system；
First planetary gear is engaged with the ring gear, and second planetary gear is engaged with the central gear；
The first planetary number of teeth is less than the number of teeth and the second planetary number of teeth of the ring gear, the central gear
The number of teeth is less than the described second planetary number of teeth.
The embodiment of the present invention additionally provides a kind of gate valve control method, and methods described includes：
After gate valve startup, the virtual condition data of the gate valve are detected at interval at preset timed intervals；
According to the control parameter of the virtual condition data point reuse input hydraulic pressure power set, until the virtual condition number
According to meeting preset state data.
Preferably, the virtual condition data of the detection of the interval at preset timed intervals gate valve, including：
Interval timing detects the actual displacement data of the hydraulic power unit drive disk assembly at preset timed intervals.
Preferably, the control parameter that the hydraulic power unit is inputted according to the virtual condition data point reuse, directly
To the virtual condition data fit preset state data, including：
The actual displacement data of the hydraulic power unit drive disk assembly and preset displacement data are compared, position is obtained
Shift error value；
The control parameter for inputting the hydraulic power unit is adjusted according to the displacement error value, until the displacement error
Value is less than preset displacement error threshold.
Preferably, the virtual condition data of the detection of the interval at preset timed intervals gate valve, in addition to：
The interval timing detection actual translational speed of flashboard, liquid flow velocity, inner-walls of duct in pipeline at preset timed intervals
Pressure and pipe vibration value.
Preferably, methods described also includes：
Fuzzy Calculation is carried out to liquid flow velocity, inner-walls of duct pressure and pipe vibration value in the pipeline that detects, really
The target translational speed of the fixed flashboard.
Preferably, the control parameter that the hydraulic power unit is inputted according to the virtual condition data point reuse, directly
To the virtual condition data fit preset state data, in addition to：
The target translational speed of the actual translational speed of the flashboard and flashboard is compared, speed error value is obtained；
The control parameter for inputting the hydraulic power unit is adjusted according to the speed error value, until the velocity error
Value is less than pre-set velocity error threshold.
Preferably, the control parameter that the input hydraulic power unit is adjusted according to the speed error value, including：
By the speed error value, proportional integral differential control part is inputted, and pass through the proportional-integral-differential
Control unit adjusts the control parameter of input hydraulic pressure power set.
Gate valve and gate valve control method provided in an embodiment of the present invention, including flashboard, gate valve control device and driving flashboard
The hydraulic power unit of keying, the gate valve control device includes controlling control unit and the inspection of the hydraulic power unit motion
Survey the detection part of the gate valve state；The detection part, the actual shape of the gate valve is detected for being spaced at preset timed intervals
State data；The control unit, the virtual condition data point reuse for being detected according to detection part inputs the hydraulic power
The control parameter of device, until the virtual condition data fit preset state data；It can be seen that, the gate valve control of the embodiment of the present invention
Device processed, the control parameter to hydraulic power unit is adjusted according to the testing result of detection part, can be accurately controlled hydraulic pressure and be moved
The motion of power apparatus, so as to effectively solve gate valve poor reliability, the problem of fault rate is high, and can be prevented effectively from the hair of water hammer
It is raw.
Brief description of the drawings
Fig. 1 is the composition structural representation of the gate valve of the embodiment of the present invention one；
Fig. 2 is the composition structural representation of the gate valve of the embodiment of the present invention two；
Fig. 3 is the schematic diagram of the hydraulic power unit of the gate valve of the embodiment of the present invention three；
Fig. 4 is the schematic cross-sectional view of manual setter in Fig. 3；
Fig. 5 is the planetary gear mesh schematic representation of manual setter in Fig. 4；
Fig. 6 is the schematic flow sheet of the gate valve control method of the embodiment of the present invention four；
Fig. 7 is the embodiment of the present invention five by monitoring piston rod displacement come the schematic flow sheet of control gate valve；
Fig. 8 is the structural representation of gate valve control device of the embodiment of the present invention six with Self-learning Fuzzy Controller；
Fig. 9 is the flow signal that gate valve control device of the embodiment of the present invention six with Self-learning Fuzzy Controller closes flashboard
Figure.
Embodiment
The embodiments of the invention provide a kind of gate valve, the gate valve includes flashboard, gate valve control device and driving flashboard and opened
The hydraulic power unit closed, the gate valve control device includes controlling control unit and the detection of the hydraulic power unit motion
The detection part of the gate valve state；The detection part, the virtual condition of the gate valve is detected for being spaced at preset timed intervals
Data；The control unit, the virtual condition data point reuse for being detected according to detection part inputs the hydraulic power and filled
The control parameter put, until the virtual condition data fit preset state data.
The principle of the embodiment of the present invention is：The virtual condition data of gate valve are detected, and testing result is fed back into gate valve control
Device processed, the control parameter of the adjustment input hydraulic power unit, until the virtual condition data fit preset state number
According to；That is, by the control principle of negative-feedback, being accurately controlled the motion of hydraulic power unit；Gate valve can be solved reliable
The problem of property is poor, fault rate is high, is prevented effectively from the generation of water hammer.
The characteristics of in order to more fully hereinafter understand the embodiment of the present invention and technology contents, below in conjunction with the accompanying drawings and tool
The present invention is further elaborated for the Application Example of body, appended accompanying drawing purposes of discussion only for reference, not for limiting this
Inventive embodiments.
Embodiment one
Fig. 1 is the composition structural representation of the gate valve of the embodiment of the present invention one, as shown in figure 1, the gate valve includes gate valve control
Device 11 processed, hydraulic power unit 12 and flashboard 13；
The gate valve control device 11 includes：Control control unit and detect described that the hydraulic power unit 12 is moved
The detection part of gate valve state, the control unit is connected with detection part；Wherein,
The detection part, the virtual condition data of the gate valve are detected for being spaced at preset timed intervals；
The control unit, the virtual condition data point reuse for being detected according to detection part inputs the hydraulic power
The control parameter of device 12, until the virtual condition data fit preset state data.
The hydraulic power unit 12 includes：Hydraulic pump 121 and hydraulic cylinder 122, the piston rod of the hydraulic cylinder 122 and institute
State flashboard 13 to connect, so by the straight reciprocating motion of the piston rod of hydraulic cylinder 122, the keying of flashboard 13 can be driven；
Accordingly, in the embodiment of the present invention, the control unit is programmable logic controller (PLC) (PLC, Programmable
Logic Controller) 111, the detection part is the displacement detection part for detecting the piston rod displacement of hydraulic cylinder 122
112；
Specifically, the displacement detection part 112 can be displacement transducer, can be specifically raster pattern displacement sensing
Device.
So, based on the embodiment of the present invention, the gate valve control device 11 by displacement detection part 112 at preset timed intervals
The interval detection piston rod actual displacement data of hydraulic cylinder 122, and by the PLC111 according to the reality detected
The control parameter of the displacement data adjustment input hydraulic power unit 12, until the actual displacement data fit preset displacement
Data, reach the purpose that accurate control control hydraulic power unit 12 is moved.It can solve that gate valve poor reliability, fault rate are high to ask
Topic, is prevented effectively from the generation of water hammer.
Embodiment two
Fig. 2 is the composition structural representation of the gate valve of the embodiment of the present invention two, as shown in Fig. 2 the gate valve includes gate valve control
Device 21 processed, hydraulic power unit 22 and flashboard 23；
The gate valve control device 21 includes：Control control unit and detect described that the hydraulic power unit 22 is moved
The detection part of gate valve state, the control unit is connected with detection part；Wherein,
It is described to state detection part, the virtual condition data of the gate valve are detected for being spaced at preset timed intervals；
The control unit, the virtual condition data point reuse for being detected according to detection part inputs the hydraulic power
The control parameter of device 22, until the virtual condition data fit preset state data.
The hydraulic power unit 22 includes：Hydraulic pump 221 and hydraulic cylinder 222, the piston rod of the hydraulic cylinder 222 and institute
State flashboard 23 to connect, so by the straight reciprocating motion of the piston rod of hydraulic cylinder 222, the keying of flashboard 23 can be driven；
In the embodiment of the present invention, the control unit is PLC211, and the detection part includes：Displacement detection part 212,
First Speed detection part 213, second speed detection part 214, pressure detecting part 215 and vibration detection part 216；Its
In,
The displacement detection part 212, the displacement for detecting the piston rod of hydraulic cylinder 222；
The First Speed detection part 213, the translational speed for detecting flashboard 23；
The second speed detection part 214, for detecting liquid flow velocity in pipeline；
The pressure detecting part 215, the inner wall pressure for detecting pipeline；
The vibration detection part 216, the vibration values for detecting pipeline.
Specifically, the displacement detection part 212 can be displacement transducer, and the First Speed detection part 213 can
To be velocity sensor, the second speed detection part 214 can be flowmeter, and first measurement of discharge calculates flow velocity, the pressure again
Power detection part 215 can be pressure sensor, and the vibration detection part 216 can be vibration monitor.
Be the same as Example one, the gate valve control device 21 of the embodiment of the present invention can be accurately controlled the fortune of hydraulic power unit 22
It is dynamic, gate valve poor reliability can be solved, the problem of fault rate is high, be prevented effectively from the generation of water hammer.
Further, the embodiment of the present invention is additionally provided with Self-learning Fuzzy Controller；
The Self-learning Fuzzy Controller, for liquid flow velocity in the pipeline to detecting, inner-walls of duct pressure and
Pipe vibration value carries out Fuzzy Calculation, determines the target translational speed of the flashboard 23；
Specifically, the Self-learning Fuzzy Controller can be the fuzzy controller combination gate valve using fuzzy control principle
Control method is made.
So, the gate valve control device 21 of the embodiment of the present invention passes through second speed detection part 214, pressure detecting part
215 and vibration detection part 216 determine the target translational speed of the flashboard 23, and pass through the First Speed detection part
213 are spaced the actual translational speed of the detection flashboard 23 at preset timed intervals, then by the PLC211 according to flashboard 23
The speed error value of actual translational speed and target translational speed, the control parameter of the adjustment input hydraulic power unit 22,
Until the speed error value is less than pre-set velocity error threshold, the mesh that accurate control control hydraulic power unit 22 is moved is reached
's.Gate valve poor reliability can be solved, the problem of fault rate is high, be prevented effectively from the generation of water hammer.
Specifically, the operation principle of the hydraulic power unit 22 is：Motor drives the oil extraction of hydraulic pump 221, discharge
Oil enter hydraulic cylinder 222, the piston rod of driving hydraulic cylinder 222 is moved, also with regard to that can open and close flashboard 23；
Further, the inner chamber of the hydraulic cylinder 222 include rod chamber and rodless cavity, open flashboard 23 when, piston rod from
Rodless cavity is moved to rod chamber, and when closing flashboard 23, the moving direction of piston rod is moved from rod chamber to rodless cavity；So in electricity
In the case that acc power and hydraulic cylinder cylinder diameter are constant, fuel delivery when flashboard 23 is opened is bigger, therefore gate valve opens flashboard 23
Opening force is more than the closing forces for closing flashboard 23, preferably make use of the power of gate valve；Because due to there is the factors such as incrustation scale, leading
Cause unlatching flashboard 23 more difficult than closing flashboard 23；
Further, the motor can be fire-proof motor, so safer.
It is understood that the hydraulic power unit is not limited to hydraulic pump and hydraulic pressure described in embodiment one and embodiment two
The combination of cylinder or it is other the hydraulic test of power can be provided, such as hydraulic motor adds screw mandrel；
The control unit can also be other parts in addition to PLC, such as single-chip microcomputer, industrial control computer；Institute
State detection part can be according to control the need for, more detection parts are set.
Embodiment three
Fig. 3 is the schematic diagram of the hydraulic power unit of the gate valve of the embodiment of the present invention three, as shown in figure 3, the hydraulic power
Device includes hydraulic pump 31 and hydraulic cylinder 32, and the piston rod of the hydraulic cylinder 32 and flashboard (invisible in Fig. 3) are connected；The lock
Plate is arranged in pipeline 33；
The hydraulic pump 31 includes motor 34, and the motor shaft of the motor 34 is connected with manual setter 35；
The manual setter 35, for or the closing manually opened to gate valve progress in emergency circumstances such as power failure or failure；
Under normal circumstances, the hydraulic power unit of the embodiment of the present invention opens and closes lock according to the instruction of gate valve control device
Plate, that is, according to the instruction of gate valve control device, the oil extraction of hydraulic pump 31 is driven by motor 34, the oil of discharge enters liquid
Cylinder pressure 32, the piston rod movement of driving hydraulic cylinder 32, also with regard to flashboard can be opened and closed；But in power failure or failure etc. in emergency circumstances,
The hydraulic power unit runs out of steam, it is impossible to open and close flashboard, it is necessary to complete the keying of flashboard by manual setter 35.
It is understood that the manually opened or closing gate valve, can be and the motor 34 is closed without any
The mechanism of connection, such as can be hydraulic hand-pump；Compared to hydraulic hand-pump, the manual setter 35 of the embodiment of the present invention directly with it is described
Motor shaft is connected, and without the part such as laying pipeline, magnetic valve in addition, structure is simpler.
Fig. 4 is the schematic cross-sectional view of manual setter 35 in Fig. 3, as shown in figure 4, the manual setter 35 includes joystick
351st, set up or unclamp the clutch part 352 being connected between the joystick 351 and motor shaft 341.
To make manual setter 35 more efficiently, the manual setter 35 also includes planetary gears, the planetary gear
Mechanism includes casing 353, ring gear 354, planet carrier 355, planetary gear and central gear 356；The ring gear 354 is fixed on
The inwall of casing 353, the joystick 351 is fixedly connected with the planet carrier 355, and the motor shaft 341 is arranged with described
Central gear 356；The clutch part 352 is used for the motor shaft 341 and central gear 356 in circumference to being connected.
In the embodiment of the present invention, described one end of planet carrier 355 is provided with two planetary gear shafts 357, two planetary gear shafts
357 are based on the axial symmetry of motor shaft 341；
Axial arranged distribution and synchronous with the planetary gear shaft 357 turn are provided with each planetary gear shaft 357
Dynamic the first planetary gear 358 and the second planetary gear 359；First planetary gear 358 is engaged with the ring gear 354,
Second planetary gear 359 is engaged with the central gear 356；The number of teeth of first planetary gear 358 is less than in described
The number of teeth of the number of teeth of gear ring 354 and the second planetary gear 359, the number of teeth of the central gear 356 is less than the second planet tooth
The number of teeth of wheel 359.
So, it by manual setter 35, can obtain than larger speed increasing ratio, make manual setter 35 more efficiently；
Further, the motor shaft 341 is also arranged with clutch connection set 342, the cylindrical set of the clutch connection set 342
If the central gear 356；The clutch connection set 342 is fixed on the motor shaft 341 by key；
Under normal circumstances, joystick 351 is pulled out, clutch part 352 unclamps, the clutch connection set 342 and the sun
Gear 356 radially departs from, so, and when the motor 34 is operated, the planetary gears is static；
When occurring having a power failure or during the emergency such as failure, the push-in planetary gears of joystick 351, the work of clutch part 352
Make, the clutch connection set 342 is radially fixed with the central gear 356, so, the rotation joystick 351 passes through planet
Gear mechanism drives the motor shaft 341 to rotate, driving hydraulic power unit action.
It is understood that can also be the transmission company of other manner between the manual setter 35 and the motor shaft
Connect, such as common gear drive, Worm Wheel System, V belt translation, Chain conveyer.
The characteristics of in order to more fully hereinafter understand manual setter in the embodiment of the present invention and technology contents, below to scheme
Exemplified by 5, it is described further：
Fig. 5 is the planetary gear mesh schematic representation of manual setter 35 in Fig. 4；First planetary gear 358 with it is described interior
Gear ring 354 is engaged, and second planetary gear 359 is engaged with the central gear 356；
The modulus of gear described in Fig. 5 is 2, and the number of teeth of the first planetary gear 358 is 8, the tooth of the second planetary gear 359
Number is 29, and the number of teeth of central gear 356 is 10, and the number of teeth of ring gear 354 is 48, and so, transmission reaches 18.4, that is, speed increasing ratio
For 18.4；
Specifically, the calculating process of the speed increasing ratio is as follows：
If central gear 356 is gear 1, the second planetary gear 359 is gear 2, and the first planetary gear 358 is gear 3, interior
Gear ring 354 is gear 4, and planet carrier is H, can be obtained than Computing Principle according to Planetary Gear Transmission：
Wherein,Represent to assume under planet carrier static position, the gearratio between gear 1 and gear 4, n represents rotating speed, Z
Represent the number of teeth, such as n1Represent the rotating speed of gear 1, Z1The number of teeth of gear 1 is represented, by that analogy；
Because ring gear is fixed, therefore n4It is zero, can be obtained by expression formula (1)：
The number of teeth is substituted into and calculated：
It can be obtained by (3)：
It can be obtained by (4)：
Gear 1 is namely represented, i.e. the rotating speed of central gear 356 is 18.4 times of planet carrier 355, and the He of planet carrier 355
Joystick 351 is fixedly connected, therefore, the speed increasing ratio 18.4 of manual setter 35.
,, can be with when joystick 351 reaches 1 turn per second of speed when pipeline hydraulic pressure is 4.5MPa in prototyping testing
Drive motor rotates 18.4 turns, and the piston rod of hydraulic cylinder can move 1.73mm, completes the whole valve that closes and operates the time used to be 104
Second, pass valve operation in emergency circumstances can be met；
Certainly, the torque that speed can be applied by arm is adjusted at any time.
It is understood that the gear in planetary gears can be as needed, the teeth different from the present embodiment are designed
Number.
To be concise in expression, also comply with industry standard, the modulus of Fig. 5 middle gears with letter M is represented, the number of teeth is represented with zed,
For example, the modulus of the first planetary gear 358 is 2, gear is 8, can be expressed as " M=2, Z=8 ".
Example IV
Fig. 6 is the schematic flow sheet of the gate valve control method of the embodiment of the present invention four, and the executive agent of methods described can be
Gate valve control device, as shown in fig. 6, methods described includes：
Step 601：After gate valve startup, the virtual condition data of the gate valve are detected at interval at preset timed intervals；
Specifically, the virtual condition data of the detection of the interval at preset timed intervals gate valve, including：
Interval timing detects the actual displacement data of the hydraulic power unit drive disk assembly at preset timed intervals.
More specifically, detect the virtual condition data of the gate valve is the detection part in gate valve control device, it is described
The virtual condition data are sent to the control unit in gate valve control device by detection part after the virtual condition data of detection
Part；
Here, the detection part can be displacement detection part；Control unit can be PLC；
Namely the actual displacement data of hydraulic power unit drive disk assembly can be sent to PLC, PLC by displacement detection part
It is further processed, that is, performs step 602.
Further, the virtual condition data of the detection of the interval at preset timed intervals gate valve, in addition to：
The interval timing detection actual translational speed of flashboard, liquid flow velocity, inner-walls of duct in pipeline at preset timed intervals
Pressure and pipe vibration value.
Here, detection part can be detected the First Speed detection part of flashboard translational speed, detect liquid in pipeline
The second speed detection part of flowing velocity and the pressure detecting part and detection pipeline vibration values for detecting pipeline inner wall pressure
Vibration detection part；Control unit can be PLC；
Similarly, above-mentioned detection data are sent to PLC by detection part, and PLC is further processed, that is, performs step
Rapid 602.
Step 602：According to the control parameter of the virtual condition data point reuse input hydraulic pressure power set, until the reality
Border status data meets preset state data.
Specifically, the control parameter that the hydraulic power unit is inputted according to the virtual condition data point reuse, directly
To the virtual condition data fit preset state data, including：
The actual displacement data of the hydraulic power unit drive disk assembly and preset displacement data are compared, position is obtained
Shift error value；
The control parameter for inputting the hydraulic power unit is adjusted according to the displacement error value, until the displacement error
Value is less than preset displacement error threshold.
Here, the preset displacement data can be the shifting in each period according to the drive disk assembly of hydraulic power unit
Dynamic speed, which is calculated, to be obtained；And translational speed of the drive disk assembly of hydraulic power unit in each period can be according to calculate or
What experiment was obtained；Translational speed of the drive disk assembly of hydraulic power unit in each period can be identical or
Different；
Preferably, in order that the keying of gate valve is smooth, nonoverload, the drive disk assembly of the hydraulic power unit can be set
For：It is that at a slow speed, centre is quick when flashboard keying starts, is also at a slow speed when being opened and closed to fast completion；
Further, the preset displacement data of the hydraulic power unit drive disk assembly can be expressed as transverse axis for the time,
The longitudinal axis is the curve map of displacement；
Further, the preset displacement data of the hydraulic power unit drive disk assembly can be true according to calculating or experiment
It is fixed, operation conditions determination can also be constantly summarized in actual use.
The preset displacement error threshold sets for the precision according to hydraulic cylinder, less than preset displacement error threshold
It need not just adjust again, it is so more energy efficient.
The control parameter for inputting the hydraulic power unit is adjusted according to the displacement error value, can be included：According to institute
Rheme shift error value, is adjusted into the hydraulic fluid flow rate of the hydraulic cylinder；Specifically, adjustment control parameter can pass through servo
Valve；
The hydraulic fluid flow rate of the hydraulic cylinder is adjusted into, the translational speed of hydraulic cylinder piston rod can be adjusted, and then is subtracted
Few displacement error value.
Further, the flashboard detects the pressure of flashboard bottom provided with pressure detecting part (not shown), so as to
Stop the action of hydraulic power unit in time；Meanwhile, overflow valve is additionally provided with the hydraulic pipeline of hydraulic power unit, so,
Completion is turned on and off in flashboard, that is, is reached behind precalculated position, hydraulic power unit can the action of stopping in time, hydraulic pipeline
In hydraulic oil pass through overflow valve off-load, it is to avoid occurring motor rotation blockage, flashboard overtravel causes flashboard or other parts to deform
The problem of.
Based on the embodiment of the present invention, the displacement of the hydraulic cylinder piston rod can accurately meet default requirement, it is to avoid
Damage of the overload that lag or lead is brought to hydraulic power unit, can also avoid motor in hydraulic power unit
Stall, can also adjust the hydraulic power unit and passes according to the preset displacement data of the hydraulic power unit drive disk assembly
The actual displacement of dynamic component, it is to avoid the generation of water hammer.It is understood that to reach the essence moved to hydraulic power unit
Really control, can also detect displacement or the speed of other drive disk assemblies in addition to hydraulic cylinder piston rod.
Further, the control parameter that the hydraulic power unit is inputted according to the virtual condition data point reuse,
Until the virtual condition data fit preset state data, in addition to：
The target translational speed of the actual translational speed of flashboard and flashboard is compared, speed error value is obtained；
The control parameter for inputting the hydraulic power unit is adjusted according to the speed error value, until the velocity error
Value is less than pre-set velocity error threshold.
Here, the actual translational speed of the flashboard is obtained by the detection of First Speed detection part, First Speed
Detection data can be sent to PLC by detection part；
The target translational speed of flashboard is to liquid flow velocity, inner-walls of duct pressure and pipe Vibration in the pipeline that detects
Dynamic value carries out Fuzzy Calculation and obtained.
That is, the target translational speed of the flashboard is continually changing, it can be done according to the concrete condition in pipeline
Corresponding amendment.
The target translational speed of flashboard is determined according to aforesaid way, water hammer can be avoided to greatest extent；The pipe
In road liquid flow velocity, inner-walls of duct pressure and pipe vibration value be by test determine decision water hammer it is crucial because
Element.
More specifically, the control parameter for inputting the hydraulic power unit is adjusted according to the speed error value, including：Root
According to the speed error value, with proportional-integral-differential (PID, proportion, integral, derivative) control unit
Part adjusts the flow of servo valve, and then adjusts the translational speed of hydraulic cylinder.
PID control part is a common backfeed loop part in Industry Control Application, by proportional unit P, integration
Unit I and differentiation element D compositions.The basis of PID control is ratio control；Integration control can eliminate steady-state error, but may increase
Plus overshoot；Differential control can accelerate Great inertia system response speed and weaken overshoot trend.PID control part is applicable to
The system for carrying out high-acruracy survey control, can go out optimal pid control parameter according to controlled device auto computing, using simple easy
Understand, be not required to the prerequisites such as accurate system model, thus as the controller being most widely used.
The PID control part can be realized by PLC, for example, can be a PLC module or individually
Part.
The pre-set velocity error threshold is the precision set moved according to hydraulic cylinder, less than pre-set velocity error threshold just
It need not adjust again, it is so more energy efficient.
Further, the gate valve is provided with Self-learning Fuzzy Controller, and the Self-learning Fuzzy Controller is used for detection
Liquid flow velocity, inner-walls of duct pressure and pipe vibration value carry out Fuzzy Calculation in the pipeline arrived, obtain the mesh of the flashboard
Translational speed is marked, so without determining target translational speed by manually calculating or testing, so, the target movement of flashboard is determined
Speed is more scientific, more intelligent.
Based on the embodiment of the present invention, water hammer can be avoided to greatest extent, it is to avoid gate valve, pipeline are by impact failure；
It is understood that determine flashboard target translational speed, can in pipeline liquid flow velocity, inner-walls of duct
Increase more monitoring projects outside pressure and pipe vibration value.
Embodiment five
Fig. 7 be the embodiment of the present invention five by monitoring piston rod displacement come the schematic flow sheet of control gate valve, such as Fig. 7 institutes
Show, the flow includes：
Step 701：Read the displacement data of piston rod；
Specifically, displacement detection part detects the displacement of the hydraulic cylinder piston rod, the displacement data of piston rod is obtained.
Step 702：Whether flashboard is turned on and off completing；
In this step, according to the displacement data of piston rod, determine that flashboard is turned on and off whether completing, if flashboard is opened
Or close completion, then flow terminates；If do not completed, into step 703.
Step 703：Displacement data is sent to PLC；
Specifically, the displacement data of the piston rod of acquisition is sent into PLC.
Step 704：Displacement data is compared with default piston rod displacement data；
Specifically, the displacement data of piston rod is compared with default piston rod displacement data, displacement error value is obtained；
Step 705：Judge whether displacement error value is less than preset displacement error threshold, preset if displacement error value is less than
Displacement error threshold value, then into step 701；Conversely, into step 706.
Step 706：Adjust instruction is sent to servo valve；
Specifically, adjust instruction is sent into servo valve, the piston rod of hydraulic cylinder is adjusted by servo valve.
Step 707：Adjust the translational speed of piston rod.
Specifically, servo valve is adjusted into the hydraulic fluid flow rate of the hydraulic cylinder, and then adjust the shifting of hydraulic cylinder piston rod
Dynamic speed.
Embodiment six
Fig. 8 is the structural representation of gate valve control device of the embodiment of the present invention six with Self-learning Fuzzy Controller, such as Fig. 8
Shown, gate valve control device includes PLC, Self-learning Fuzzy Controller and electrical servo pilot operated valve device, wherein：
The PLC, " flashboard theoretical velocity " for receiving Self-learning Fuzzy Controller transmission, the flashboard with detection is actual
Speed ratio relatively obtains speed error value, adjusts electrical servo pilot operated valve device according to speed error value, that is, realize by PID control
Closed-loop control to gate valve；
The Self-learning Fuzzy Controller, for gathering the flow rate of liquid in pipeline, pipeline vibration and surge, according to
Flow rate of liquid, pipeline vibration and surge in pipeline calculate " flashboard theoretical velocity " and are sent to PLC；
The electrical servo pilot operated valve device, the control signal for receiving PLC adjusts the translational speed of flashboard.
Because the closing of gate valve is easier to cause water hammer, therefore, the embodiment of the present invention six is explained below with self-study
Practise the closing flashboard flow of the gate valve control device of fuzzy controller；It is, of course, understood that the control method of the present embodiment
It is equally useful for the unlatching control of flashboard.
Fig. 9 is the flow signal that gate valve control device of the embodiment of the present invention six with Self-learning Fuzzy Controller closes flashboard
Figure, as shown in figure 9, the flow includes：
Step 901：Initialization program；
Here, the initialization includes：Control device starts, and starts main program.
Step 902：Open gate valve bolt down procedure；
Control device instruction hydraulic power unit is specifically referred to start.
Step 903：Whether self-learning function is opened, if be not turned on, into step 904；If opened, enter step
Rapid 905.
Step 904：Default flashboard target translational speed is read, step 907 is performed；
Here, the default flashboard target translational speed can be the curve map that transverse axis is the time, the longitudinal axis is speed；
The curve map can be determined according to calculating or testing, and operation can also be constantly summarized in actual use
Situation is determined.
Step 905：Gather the data in pipeline；
In the embodiment of the present invention, the data in pipeline include：Liquid flow velocity, inner-walls of duct pressure and pipeline in pipeline
Vibration values.
Step 906：According to the data in the pipeline of collection, Fuzzy Calculation is carried out；
In this step, according to default data model, by liquid flow velocity, inner-walls of duct pressure and pipe Vibration in pipeline
Dynamic value input data model is calculated.
Step 907：Determine flashboard target translational speed；
In this step, according to default flashboard target translational speed or the result of Fuzzy Calculation, determine that flashboard target is moved
Speed.
Step 908：Detect the actual translational speed of flashboard；
Here, by speed detecting component, the actual translational speed of flashboard is detected.
Step 909：Judge whether gate valve completes closing；
In this step, according to the actual translational speed of flashboard, judge whether gate valve completes closing, if completed, flow
Journey terminates；If do not completed, into step 910.
Step 910：Speed error value is less than pre-set velocity error threshold；
In this step, relatively actual translational speed and target translational speed obtain speed error value, if speed error value
Less than pre-set velocity error threshold, then into step 903；Conversely, into step 911.
Step 911：Carry out PID arithmetic；
Here, speed error value is subjected to proportional-integral-differential computing, obtains corresponding feedback control parameters.
Step 912：Adjust the flow of servo valve；
Here, according to feedback control parameters, the flow of servo valve is adjusted, that is, adjust the translational speed of hydraulic cylinder；
Step 912 has been performed, and reenters step 903.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention, it is all
Any modifications, equivalent substitutions and improvements made within the spirit and principles in the present invention etc., should be included in the protection of the present invention
Within the scope of.
Claims (14)
1. a kind of gate valve, it is characterised in that the hydraulic pressure that the gate valve includes flashboard, gate valve control device and driving flashboard keying is moved
Power apparatus, the gate valve control device includes controlling the control unit of the hydraulic power unit motion and detects the gate valve shape
The detection part of state；Wherein,
The detection part, the virtual condition data of the gate valve are detected for being spaced at preset timed intervals；
The control unit, the virtual condition data point reuse for being detected according to detection part inputs the hydraulic power unit
Control parameter, until the virtual condition data fit preset state data.
2. gate valve according to claim 1, it is characterised in that the hydraulic power unit includes hydraulic cylinder, the hydraulic pressure
The piston rod of cylinder is connected with the flashboard.
3. gate valve according to claim 2, it is characterised in that the control unit is PLC, the detection part includes inspection
Survey the displacement detection part of the piston rod displacement.
4. gate valve according to claim 3, it is characterised in that the detection part also includes：Detect flashboard translational speed
First Speed detection part, detection pipeline in liquid flow velocity second speed detection part and detection inner-walls of duct
The pressure detecting part of pressure and the vibration detection part of detection pipeline vibration values.
5. the gate valve according to any one of claim 2 to 4, it is characterised in that the hydraulic power unit also includes driving
Motor, the motor shaft of the motor is connected with manual setter；
The manual setter includes joystick, sets up or unclamp the clutch being connected between the joystick and the motor shaft
Part.
6. gate valve according to claim 5, it is characterised in that the manual setter also includes planetary gears, described
Planetary gears includes casing, ring gear, planet carrier, planetary gear and central gear；
The ring gear is fixed on the cabinet wall, and the joystick is fixedly connected with the planet carrier, the motor shaft sleeve
Provided with the central gear；The clutch part is used for the motor shaft and central gear in circumference to being connected.
7. gate valve according to claim 6, it is characterised in that described planet carrier one end is provided with two planetary gear shafts, often
Be provided with the individual planetary gear shaft axial arranged distribution and with the first planetary gear of the planetary gear shaft synchronous axial system
With the second planetary gear；
First planetary gear is engaged with the ring gear, and second planetary gear is engaged with the central gear；It is described
The first planetary number of teeth is less than the number of teeth and the second planetary number of teeth of the ring gear, the number of teeth of the central gear
Less than the described second planetary number of teeth.
8. a kind of gate valve control method, it is characterised in that methods described includes：
After gate valve startup, the virtual condition data of the gate valve are detected at interval at preset timed intervals；
According to the control parameter of the virtual condition data point reuse input hydraulic pressure power set, until the virtual condition data symbols
Close preset state data.
9. method according to claim 8, it is characterised in that the reality of the detection of the interval at preset timed intervals gate valve
Status data, including：
Interval timing detects the actual displacement data of the hydraulic power unit drive disk assembly at preset timed intervals.
10. method according to claim 9, it is characterised in that described that institute is inputted according to the virtual condition data point reuse
The control parameter of hydraulic power unit is stated, until the virtual condition data fit preset state data, including：
The actual displacement data of the hydraulic power unit drive disk assembly and preset displacement data are compared, displacement is obtained and misses
Difference；
The control parameter for inputting the hydraulic power unit is adjusted according to the displacement error value, until the displacement error value is small
In preset displacement error threshold.
11. method according to claim 8, it is characterised in that the reality of the detection of the interval at preset timed intervals gate valve
Border status data, in addition to：
The interval timing detection actual translational speed of flashboard, liquid flow velocity, inner-walls of duct pressure in pipeline at preset timed intervals
With pipe vibration value.
12. method according to claim 11, it is characterised in that methods described also includes：
Fuzzy Calculation is carried out to liquid flow velocity, inner-walls of duct pressure and pipe vibration value in the pipeline that detects, institute is determined
State the target translational speed of flashboard.
13. method according to claim 12, it is characterised in that described that institute is inputted according to the virtual condition data point reuse
The control parameter of hydraulic power unit is stated, until the virtual condition data fit preset state data, in addition to：
The target translational speed of the actual translational speed of the flashboard and flashboard is compared, speed error value is obtained；
The control parameter for inputting the hydraulic power unit is adjusted according to the speed error value, until the speed error value is small
In pre-set velocity error threshold.
14. method according to claim 13, it is characterised in that described according to speed error value adjustment input
The control parameter of hydraulic power unit, including：
By the speed error value, proportional integral differential control part is inputted, and pass through the proportional integral differential control
Part adjusts the control parameter of input hydraulic pressure power set.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710558332.5A CN107269864B (en) | 2017-07-10 | 2017-07-10 | Gate valve and gate valve control method |
| PCT/CN2017/093026 WO2019010708A1 (en) | 2017-07-10 | 2017-07-14 | Gate valve and gate valve control method |
| AU2017422789A AU2017422789B2 (en) | 2017-07-10 | 2017-07-14 | Gate valve and gate valve control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710558332.5A CN107269864B (en) | 2017-07-10 | 2017-07-10 | Gate valve and gate valve control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107269864A true CN107269864A (en) | 2017-10-20 |
| CN107269864B CN107269864B (en) | 2021-07-02 |
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ID=60071752
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710558332.5A Active CN107269864B (en) | 2017-07-10 | 2017-07-10 | Gate valve and gate valve control method |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN107269864B (en) |
| AU (1) | AU2017422789B2 (en) |
| WO (1) | WO2019010708A1 (en) |
Cited By (5)
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|---|---|---|---|---|
| CN112049950A (en) * | 2020-07-08 | 2020-12-08 | 广州市昊力工具有限公司 | Gate valve |
| CN112253783A (en) * | 2020-09-23 | 2021-01-22 | 江苏理工学院 | Pump control motor drive type large-caliber fixed ball valve |
| CN112594404A (en) * | 2020-12-23 | 2021-04-02 | 李旭 | Multi-gear stroke gate valve |
| CN112963560A (en) * | 2021-04-16 | 2021-06-15 | 江苏理工学院 | Electro-hydraulic drive gas gate valve with stress detection function and control system |
| CN114294434A (en) * | 2020-10-07 | 2022-04-08 | 株式会社岛津制作所 | Pressure regulating vacuum valve |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107269864B (en) | 2021-07-02 |
| WO2019010708A1 (en) | 2019-01-17 |
| AU2017422789A1 (en) | 2020-01-02 |
| AU2017422789B2 (en) | 2020-12-24 |
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