CN107807682B - Liquid phase pump control system and control method - Google Patents
Liquid phase pump control system and control method Download PDFInfo
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Abstract
The invention relates to an ultrahigh pressure high precision liquid phase pump control system and a control method, belonging to the technical field of electronic engineering, wherein the ultrahigh pressure refers to the rated working pressure of a liquid phase pump between 60Mpa and 120Mpa, and the high precision refers to the error of a liquid phase pump system within 6/10000.
Description
Technical Field
The invention relates to an ultrahigh pressure high-precision liquid phase pump control system and a control method, belonging to the technical field of electronic engineering, wherein the ultrahigh pressure refers to the rated working pressure of a liquid phase pump between 60MPa and 120 MPa. The high precision means that the error of the liquid phase pump system is within 6/10000.
Background
With the development of social economy and science and technology, the liquid phase chromatographic analyzer (UP L C) is continuously developed towards the directions of higher precision, higher pressure and faster analysis, and the ultra-high pressure high-precision liquid phase pump is an important component of the liquid phase chromatographic analyzer (UP L C), determines whether the liquid phase chromatographic analyzer (UP L C) can normally operate, and can keep the system precision within 6/10000 under the condition of the pressure of 60-120 MPa.
The liquid phase chromatographic analyzer (UP L C) is equipped with a double-pump gradient device, and two ultrahigh-pressure high-precision liquid phase pumps are used for inputting solvents A, B with different strengths into a mixing chamber, mixing the solvents and then entering a chromatographic column, wherein the proportion of the two solvents entering the mixing chamber can be adjusted by a control system.
In order to enable the ultrahigh-pressure high-precision liquid phase pump to achieve the indexes of pressure and precision, a control system with excellent performance is required to be equipped to control the cooperative motion of two liquid phase pumps in the liquid phase chromatographic analyzer, so that very high precision requirements are provided for the ultrahigh-pressure high-precision liquid phase pump control system.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method utilizes two sets of control systems which can run independently to control two liquid phase pumps respectively, bus communication is adopted between the two sets of control systems to transmit the current motion states of the liquid phase pumps which are controlled respectively, and a logic judgment module is used for carrying out next motion planning, so that chip resources are greatly saved, the motion control of the liquid phase pumps can be completed more quickly and efficiently, and the motion precision error is kept within 6/10000.
The technical solution of the invention is as follows:
a control system of an ultrahigh-pressure high-precision liquid phase pump comprises an upper computer module, a CPU (central processing unit) processing module A, CPU processing module B, a pressure acquisition module, a motor position acquisition module, an output power amplification module and a circuit protection module;
the CPU processing module A comprises a data storage module A, a motion curve calculation module A, a motor driving module A, a signal interface conversion module A, a logic output module A, a reset module A, a surge suppression module A and a voltage conversion module A;
the CPU processing module B comprises a data storage module B, a motion curve calculation module B, a motor driving module B, a signal interface conversion module B, a logic output module B, a reset module B, a surge suppression module B and a voltage conversion module B;
the upper computer module is used for setting information such as the type of a medium, the flow rate of the liquid, the collection volume of the liquid and the like flowing through the liquid phase pump A and the liquid phase pump B, sending the set information to the data storage module A in the CPU processing module A and the data storage module B in the CPU processing module B through serial ports, and simultaneously acquiring information such as the motion position and the current pressure of the liquid phase pump A returned by the data storage module A in the CPU processing module A and information such as the motion position and the current pressure of the liquid phase pump B returned by the data storage module B in the CPU processing module B in real time;
the data storage module A in the CPU processing module A stores different compression ratios of different liquid media, and calls corresponding compression ratio parameters according to the media actually flowing through the liquid phase pump A, and the compression ratio calculation method is from an initial pressure value P0(atmospheric pressure) start with initial volume V1Is compressed to a measured pressure value P1(60-120MPa), the fluid volume at this time is recorded as V1p is the same as the formula (I). From an initial pressure value P0Starting with an initial volume of V2The same kind of fluid is compressed to a measured pressure value P2(60-120MPa), recording the volume V of the fluid at that time2p is the same as the formula (I). Determining the volume V2With volume V1First volume difference (V) therebetween2-V1). Determining the volume V corresponding to the compression2p and compressed volume V1Second volume difference (V) between p2p-V1p). By said second volume difference (V)2p-V1p) and the first volume difference (V)2-V1) The obtained ratio determines the compression ratio: is (V)2p-V1p)/(V2-V1) (ii) a The compressibility of the fluid k ═ (1-)/(P) can be finally determined by the compression ratio2-P1)。
A motion curve calculation module A in the CPU processing module A fits motion speed curves of two stepping motors A-1 and A-2 of the liquid phase pump A along with time according to the current medium compression ratio parameter stored in the data storage module A and the parameters of externally set liquid flow rate, liquid collection volume and the like, and the stable speed formula of the motor A-1 is v1＝【K1(P1-P1 beginning of)V1C./t, wherein v1Is A-1 motor stable running speed, K1For current liquid compressibility, P1Is the current pressure, P1 beginning ofAs initial pressure, V1Liquid volume, t steady state run time(ii) a The stable speed formula of the A-2 motor is v2＝-【K2(P2-P2 beginning of)V2C./t, wherein v2Is A-2 motor stable running speed, K2For current liquid compressibility, P2Is the current pressure, P2 beginning ofAs initial pressure, V2Liquid volume, t is steady run time; and after determining the stable speed, the CPU processing module fits a stable speed increasing curve and a stable speed decreasing curve, converts the stable speed increasing curve and the stable speed decreasing curve into pulses and direction signals required by the motor and sends the pulses and the direction signals to the motor driving module A in real time.
The motor driving module A in the CPU processing module A firstly subdivides the pulse signals according to the pulse and direction signals of the stepping motors A-1 and A-2 determined by the motion curve calculating module A, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the stepping motors in a constant current chopping mode to complete speed control, forward and reverse rotation control, start and stop control and the like of the stepping motors.
A signal interface conversion module A in the CPU processing module A acquires data of pressure sensors at the outlet ends of a hydraulic cylinder driven by an A-1 motor and a hydraulic cylinder driven by an A-2 motor, and converts acquired signals into 2-system numbers; meanwhile, encoder signals configured behind the A-1 motor and the A-2 motor are converted into 2-system signals, and finally the signals are sent to a motion curve calculation module A with 10ms as a period.
The logic output module A in the CPU processing module A calls the time sequence information stored in the data storage module A, and controls other execution components such as a degasser, a selection valve and the like according to set time.
The reset module A in the CPU processing module A detects the data receiving and transmitting state of the CPU processing module A once every 10ms (one operation period), the CPU processing module A needs to send a flag word to the reset module A at regular time, if the flag word is not received in 10ms, the CPU processing module A is regarded as a fault and jumps out of the current state, and the motion curve calculation module A plans the current curve again. The part mainly protects the real-time performance and the safety of the module.
The surge suppression module A in the CPU processing module A mainly carries out filtering processing on an externally input DC24V power supply, reduces start-stop surge current, controls start surge to be less than 2 times of rated load, and protects a rear-stage circuit.
The voltage conversion module A in the CPU processing module A mainly converts the DC24V power supply flowing through the surge suppression module A into stable DC12V and DC5V power supplies required by each module at the later stage.
The data storage module B in the CPU processing module B stores different compression ratios of different liquid media, and calls corresponding compression ratio parameters according to the media actually flowing through the liquid phase pump, and the compression ratio calculation method is from an initial pressure value P0(atmospheric pressure) start with initial volume V1Is compressed to a measured pressure value P1(60-120MPa), the fluid volume at this time is recorded as V1p is the same as the formula (I). From an initial pressure value P0Starting with an initial volume of V2The same kind of fluid is compressed to a measured pressure value P2(60-120MPa), recording the volume V of the fluid at that time2p is the same as the formula (I). Determining the volume V2With volume V1First volume difference (V) therebetween2-V1). Determining the volume V corresponding to the compression2p and compressed volume V1Second volume difference (V) between p2p-V1p). By said second volume difference (V)2p-V1p) and the first volume difference (V)2-V1) The obtained ratio determines the compression ratio: is (V)2p-V1p)/(V2-V1) (ii) a The compressibility of the fluid k ═ (1-)/(P) can be finally determined by the compression ratio2-P1)。
And a motion curve calculation module B in the CPU processing module B fits a motion speed curve of two stepping motors B-1 and B-2 of the liquid phase pump B along with time according to the current medium compression ratio parameter and parameters such as externally set liquid flow rate and processing volume. The stable speed formula of the B-1 motor is v1＝【K1(P1-P1 beginning of)V1C./t, wherein v1Is the stable running speed of the B-1 motor, K1For current liquid compressibility, P1Is the current pressure, P1 beginning ofAs initial pressure, V1Liquid volume, t is steady run time; b-2 electricityThe formula of the steady speed of the machine is v2＝-【K2(P2-P2 beginning of)V2C./t, wherein v2Is the stable running speed of the B-2 motor, K2For current liquid compressibility, P2Is the current pressure, P2 beginning ofAs initial pressure, V2Liquid volume, t is steady run time; after the CPU processing module determines the stable speed, a stable speed increasing curve and a stable speed decreasing curve are fitted, and finally the stable speed increasing curve and the stable speed decreasing curve are converted into pulses and direction signals required by the motor and are sent to the B-1 motor and the B-2 motor in real time.
And a motor driving module B in the CPU processing module B firstly subdivides pulse signals according to the pulse and direction signals of the stepping motors B-1 and B-2 determined by the motion curve calculating module B, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the stepping motors in a constant current chopping mode to complete speed control, forward and reverse rotation control, start and stop control and the like of the stepping motors.
The signal interface conversion module B in the CPU processing module B acquires the data of the pressure sensors at the outlet ends of the hydraulic cylinder driven by the B-1 motor and the hydraulic cylinder driven by the B-2 motor and converts the acquired signals into 2-system numbers; meanwhile, encoder signals arranged behind the B-1 motor and the B-2 motor are converted into 2-system signals, and finally the signals are sent to a motion curve calculation module B in a cycle of 10 ms.
The logic output module B in the CPU processing module B calls the time sequence information stored in the data storage module B and controls other execution components such as a six-way valve, a cleaning pump and the like according to set time.
The reset module B in the CPU processing module B detects the data receiving and transmitting state of the CPU processing module B every 10ms (one operation period), the CPU processing module B needs to send a flag word to the reset module B at regular time, if the flag word is not received in 10ms, the flag word is regarded as a fault, the current state is jumped out, and the motion curve calculation module B plans the current curve again. The part mainly protects the real-time performance and the safety of the module.
The surge suppression module B in the CPU processing module B mainly carries out filtering processing on an externally input DC24V power supply, reduces start-stop surge current, controls start surge to be less than 2 times of rated load, and protects a rear-stage circuit.
The voltage conversion module B in the CPU processing module B mainly converts the DC24V power supply flowing through the surge suppression module B into stable DC12V and DC5V power supplies required by each post-stage module.
The pressure acquisition modules are respectively arranged at the outlet ends of the hydraulic cylinder driven by the motor A-1, the hydraulic cylinder driven by the motor A-2, the hydraulic cylinder driven by the motor B-1 and the hydraulic cylinder driven by the motor B-1, and are used for acquiring the current outlet pressure of each hydraulic cylinder in real time. The millivolt voltage is converted into binary code inside the pressure acquisition module, and the binary code is transmitted to the CPU processing module A and the CPU processing module B every 10ms through the RS485 serial port.
The motor position acquisition module consists of 16-bit absolute encoders arranged on four stepper motor shafts of A-1, A-2, B-1 and B-2, real-time position signals of the four stepper motors are sent to the CPU processing module A and the CPU processing module B at a high speed through parallel ports, although parallel port transmission occupies a large amount of I/O resources, the response speed is extremely high, and one-time position information sending in one machine period can be ensured.
The output power amplification module amplifies output signals of the logic output module A in the CPU processing module A and the logic output module B in the CPU processing module B, because the output capacity of a chip is insufficient and components such as a relay cannot be driven, the output circuit power needs to be amplified, a collector open circuit series connection mode is adopted, the on-off of an upper tube is responsible for control, the on-off of a lower tube is responsible for enabling, and a signal can be sent only when the two tubes are simultaneously switched on, so that the use safety and the signal correctness are ensured.
The circuit protection module consists of an alternating current filter, an air switch and an alternating current contactor, filters the peak of alternating current, automatically cuts off a power supply when the alternating current fluctuates greatly, and protects each internal module. The circuit protection module is used for carrying out voltage stabilization and current limiting processing on the voltage input to the CPU processing module A and the CPU processing module B by the external input power supply, and ensuring that the CPU processing module A and the CPU processing module B cannot be burnt when the external input power supply is abnormal.
A control method for an ultrahigh-pressure high-precision liquid-phase pump comprises the following steps:
(1) the upper computer module sends the name of a medium, the flow rate of liquid, the collection volume and other information of the liquid phase pump A and the liquid phase pump B which are manually set to the CPU processing module A and the CPU processing module B through serial ports. Meanwhile, the upper computer collects information such as the motion position of the liquid phase pump, the current pressure and the like returned by the CPU processing module A and the CPU processing module B in real time.
(2) The data storage module A in the CPU processing module A calls the corresponding compression ratio parameter of the current medium and transmits the parameter to the motion curve calculation module A. The compression ratio is calculated from the initial pressure value P0(atmospheric pressure) start with initial volume V1Is compressed to a measured pressure value P1(60-120MPa), the fluid volume at this time is recorded as V1p is the same as the formula (I). From an initial pressure value P0Starting with an initial volume of V2The same kind of fluid is compressed to a measured pressure value P2(60-120MPa), recording the volume V of the fluid at that time2p is the same as the formula (I). Determining the volume V2With volume V1First volume difference (V) therebetween2-V1). Determining the volume V corresponding to the compression2p and compressed volume V1Second volume difference (V) between p2p-V1p). By said second volume difference (V)2p-V1p) and the first volume difference (V)2-V1) The obtained ratio determines the compression ratio: is (V)2p-V1p)/(V2-V1) (ii) a The compressibility of the fluid k ═ (1-)/(P) can be finally determined by the compression ratio2-P1)。
(3) The data storage module B in the CPU processing module B calls the corresponding compression ratio parameter of the current medium and transmits the parameter to the motion curve calculation module B. The compression ratio is calculated from the initial pressure value P0(atmospheric pressure) start with initial volume V1Is compressed to a measured pressure value P1(60-120MPa), the fluid volume at this time is recorded as V1p is the same as the formula (I). From an initial pressure value P0Starting with an initial volume of V2The same kind of fluid is compressed to a measured pressure value P2(60-120MPa), record thisVolume of fluid V2p is the same as the formula (I). Determining the volume V2With volume V1First volume difference (V) therebetween2-V1). Determining the volume V corresponding to the compression2p and compressed volume V1Second volume difference (V) between p2p-V1p). By said second volume difference (V)2p-V1p) and the first volume difference (V)2-V1) The obtained ratio determines the compression ratio: is (V)2p-V1p)/(V2-V1) (ii) a The compressibility of the fluid k ═ (1-)/(P) can be finally determined by the compression ratio2-P1)。
(4) A motion curve calculation module A in the CPU processing module A fits motion speed curves of two stepping motors A-1 and A-2 of the liquid phase pump A along with time according to parameters such as the current medium compression ratio parameter, the externally set liquid flow rate and the processing volume, and the like, wherein the stable speed formula of the motor A-1 is v1＝【K1(P1-P1 beginning of)V1C./t, wherein v1Is A-1 motor stable running speed, K1For current liquid compressibility, P1Is the current pressure, P1 beginning ofAs initial pressure, V1Liquid volume, t is steady run time; the stable speed formula of the A-2 motor is v2＝-【K2(P2-P2 beginning of)V2C./t, wherein v2Is A-2 motor stable running speed, K2For current liquid compressibility, P2Is the current pressure, P2 beginning ofAs initial pressure, V2Liquid volume, t is steady run time; after the CPU processing module determines the stable speed, a stable speed increasing curve and a stable speed decreasing curve are fitted, and finally the stable speed increasing curve and the stable speed decreasing curve are converted into pulses and direction signals required by the motor and are sent to the A-1 motor and the A-2 motor in real time.
(5) And a motion curve calculation module B in the CPU processing module B fits motion speed curves of two stepping motors B-1 and B-2 of the liquid phase pump B along with time according to the current medium compression ratio parameter and parameters such as externally set liquid flow rate and processing volume. The stable speed formula of the B-1 motor is v1＝【K1(P1-P1 beginning of)V1C/t, whereinv1Is the stable running speed of the B-1 motor, K1For current liquid compressibility, P1Is the current pressure, P1 beginning ofAs initial pressure, V1Liquid volume, t is steady run time; the stable speed formula of the B-2 motor is v2＝-【K2(P2-P2 beginning of)V2C./t, wherein v2Is the stable running speed of the B-2 motor, K2For current liquid compressibility, P2Is the current pressure, P2 beginning ofAs initial pressure, V2Liquid volume, t is steady run time; after the CPU processing module determines the stable speed, a stable speed increasing curve and a stable speed decreasing curve are fitted, and finally the stable speed increasing curve and the stable speed decreasing curve are converted into pulses and direction signals required by the motor and are sent to the B-1 motor and the B-2 motor in real time.
(6) A motor driving module A in a CPU processing module A firstly subdivides pulse signals according to pulse and direction signals of stepping motors A-1 and A-2 determined by a motion curve calculating module A, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the stepping motors in a constant current chopping mode to complete speed control, forward and reverse rotation control, start and stop control and the like of the stepping motors.
(7) And a motor driving module B in the CPU processing module B firstly subdivides the pulse signals according to the pulse and direction signals of the stepping motors B-1 and B-2 determined by the motion curve calculating module B, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the stepping motors in a constant current chopping mode to complete speed control, forward and reverse rotation control, start and stop control and the like of the stepping motors.
(8) The motor position acquisition module consists of 16-bit absolute encoders arranged on four stepper motor shafts of A-1, A-2, B-1 and B-2, real-time position signals of the four stepper motors are sent to the CPU processing module A and the CPU processing module B at a high speed through parallel ports, although parallel port transmission occupies a large amount of I/O resources, the response speed is extremely high, and one-time position information sending in one machine period can be ensured.
(9) A signal interface conversion module A in the CPU processing module A acquires data of pressure sensors arranged at the outlet ends of a hydraulic cylinder driven by an A-1 motor and a hydraulic cylinder driven by an A-2 motor, and converts acquired signals into 2-system numbers; and meanwhile, the position signals of the A-1 and A-2 motors acquired by the motor position acquisition module are converted into 2-system signals, and finally the signals are sent to the motion curve calculation module A by taking 10ms as a period. And the motion curve calculation module A analyzes according to the real-time pressure parameters and the encoder parameters, and corrects the motor motion curve in real time.
(10) A signal interface conversion module B in the CPU processing module B acquires pressure sensor data at the outlet ends of a hydraulic cylinder driven by a B-1 motor and a hydraulic cylinder driven by a B-2 motor, and converts acquired signals into 2-system numbers; and meanwhile, the position signals of the B-1 and B-2 motors acquired by the motor position acquisition module are converted into 2-system signals, and finally the signals are sent to the motion curve calculation module B in a cycle of 10 ms. And the motion curve calculation module B analyzes according to the real-time pressure parameters and the encoder parameters and corrects the motor motion curve in real time.
(11) The logic output module A in the CPU processing module A calls the time sequence information stored in the data storage module A, transmits the control information to the output power amplification module according to the set time, and controls other execution components, such as a degasser, a selection valve and the like.
(12) The logic output module B in the CPU processing module B calls the time sequence information stored in the data storage module B, transmits the control information to the output power amplification module according to the set time, and controls other execution components, such as a six-way valve, a cleaning pump and the like.
(13) The output power amplification module amplifies output signals of the logic output module A in the CPU processing module A and the logic output module B in the CPU processing module B, because the output capacity of a chip is insufficient, components such as a relay cannot be driven, the power of an output circuit needs to be amplified, a collector open circuit series connection mode is adopted, the on-off of an upper pipe is responsible for control, the on-off of a lower pipe is responsible for enabling, and only when the two pipes are simultaneously conducted, a signal can be sent out, so that the use safety and the signal correctness are ensured.
(14) A reset module A in the CPU processing module A detects the data receiving and transmitting state of the CPU processing module A once every 10ms (one operation period), the CPU processing module A needs to send a flag word to the reset module A at regular time, if the flag word is not received in 10ms, the CPU processing module A is considered to be in a fault state, the CPU processing module A jumps out of the current state, and the motion curve calculation module A plans the current curve again. The part mainly protects the real-time performance and the safety of the module.
(15) The reset module B in the CPU processing module B detects the data receiving and transmitting state of the CPU processing module B every 10ms (one operation period), the CPU processing module B needs to send a flag word to the reset module B at regular time, if the flag word is not received in 10ms, the flag word is regarded as a fault, the current state is jumped out, and the motion curve calculation module B plans the current curve again. The part mainly protects the real-time performance and the safety of the module.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, two liquid phase pumps in the liquid phase chromatographic analyzer (UP L C) are independently controlled, and two sets of control systems which run independently and can be in interactive communication are adopted, so that chip resources are saved, and the calculation speed is increased;
(2) according to the invention, the current position information of the motor is transmitted through the 16-bit parallel port, so that the control system can acquire position signals more quickly and correct a motion speed curve with high accuracy;
(3) the invention improves the motion precision by the improved design of the motor speed curve formula, controls the precision error within 1 mu, controls the flow range within 0.01-2.000m L/min, controls the resolution within 0.001m L/min, and controls the flow accuracy within +/-0.5%.
Drawings
FIG. 1 is a schematic diagram of the operation of the system of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention;
FIG. 3 is a schematic flow chart of the method of the present invention.
Detailed Description
As shown in fig. 1, 2 and 3, an ultra-high pressure and high precision liquid phase pump control system comprises an upper computer module, a CPU processing module A, CPU processing module B, a pressure acquisition module, a motor position acquisition module, an output power amplification module and a circuit protection module;
the upper computer module mainly completes man-machine interaction, and media, liquid flow rate, collection volume and other information which flow through the liquid phase pump A and the liquid phase pump B are arranged in an upper computer interface. The upper computer sends the information to the CPU processing module A and the CPU processing module B through the serial port. Meanwhile, the upper computer collects information such as the motion position of the liquid phase pump, the current pressure and the like returned by the CPU processing module A and the CPU processing module B in real time.
The pressure acquisition modules are respectively arranged at the outlet ends of the hydraulic cylinder driven by the motor A-1, the hydraulic cylinder driven by the motor A-2, the hydraulic cylinder driven by the motor B-1 and the hydraulic cylinder driven by the motor B-1, and are used for acquiring the current outlet pressure of each hydraulic cylinder in real time. The millivolt voltage is converted into binary code inside the pressure acquisition module, and the binary code is transmitted to the CPU processing module A and the CPU processing module B every 10ms through the RS485 serial port.
The motor position acquisition module consists of 16-bit absolute encoders arranged on four stepper motor shafts of A-1, A-2, B-1 and B-2, real-time position signals of the four stepper motors are sent to the CPU processing module A and the CPU processing module B at a high speed through parallel ports, although parallel port transmission occupies a large amount of I/O resources, the response speed is extremely high, and one-time position information sending in one machine period can be ensured.
The output power amplification module amplifies output signals of the logic output module A in the CPU processing module A and the logic output module B in the CPU processing module B, because the output capacity of a chip is insufficient and components such as a relay cannot be driven, the output circuit power needs to be amplified, a collector open circuit series connection mode is adopted, the on-off of an upper tube is responsible for control, the on-off of a lower tube is responsible for enabling, and a signal can be sent only when the two tubes are simultaneously switched on, so that the use safety and the signal correctness are ensured.
The circuit protection module consists of an alternating current filter, an air switch and an alternating current contactor, filters the peak of alternating current, automatically cuts off a power supply when the alternating current fluctuates greatly, and protects each internal module.
The CPU processing module A comprises a data storage module A, a motion curve calculation module A, a motor driving module A, a signal interface conversion module A, a logic output module A, a reset module A, a surge suppression module A and a voltage conversion module A.
The data storage module A in the CPU processing module A stores different compression ratios of different liquid media, and calls corresponding compression ratio parameters according to the media actually flowing through the liquid phase pump, and the compression ratio calculation method is from an initial pressure value P0(atmospheric pressure) start with initial volume V1Is compressed to a measured pressure value P1(60-120MPa), the fluid volume at this time is recorded as V1p is the same as the formula (I). From an initial pressure value P0Starting with an initial volume of V2The same kind of fluid is compressed to a measured pressure value P2(60-120MPa), recording the volume V of the fluid at that time2p is the same as the formula (I). Determining the volume V2With volume V1First volume difference (V) therebetween2-V1). Determining the volume V corresponding to the compression2p and compressed volume V1Second volume difference (V) between p2p-V1p). By said second volume difference (V)2p-V1p) and the first volume difference (V)2-V1) The obtained ratio determines the compression ratio: is (V)2p-V1p)/(V2-V1) (ii) a The compressibility of the fluid k ═ (1-)/(P) can be finally determined by the compression ratio2-P1)。
A motion curve calculation module A in the CPU processing module A fits motion speed curves of two stepping motors A-1 and A-2 of the liquid phase pump A along with time according to parameters such as the current medium compression ratio parameter, the externally set liquid flow rate and the processing volume, and the like, wherein the stable speed formula of the motor A-1 is v1＝【K1(P1-P1 beginning of)V1C./t, wherein v1Is A-1 motor stable running speed, K1For current liquid compressibility, P1Is the current pressure, P1 beginning ofAs initial pressure, V1Liquid volume, t is steady run time; the stable speed formula of the A-2 motor is v2＝-【K2(P2-P2 beginning of)V2C./t, wherein v2Is A-2 motor stable running speed, K2For current liquid compressibility, P2Is the current pressure, P2 beginning ofIs a firstInitial pressure, V2Liquid volume, t is steady run time; after the CPU processing module determines the stable speed, a stable speed increasing curve and a stable speed decreasing curve are fitted, and finally the stable speed increasing curve and the stable speed decreasing curve are converted into pulses and direction signals required by the motor and are sent to the A-1 motor and the A-2 motor in real time.
The motor driving module A in the CPU processing module A firstly subdivides the pulse signals according to the pulse and direction signals of the stepping motors A-1 and A-2 determined by the motion curve calculating module A, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the stepping motors in a constant current chopping mode to complete speed control, forward and reverse rotation control, start and stop control and the like of the stepping motors.
A signal interface conversion module A in the CPU processing module A acquires data of pressure sensors at the outlet ends of a hydraulic cylinder driven by an A-1 motor and a hydraulic cylinder driven by an A-2 motor, and converts acquired signals into 2-system numbers; meanwhile, encoder signals configured behind the A-1 motor and the A-2 motor are converted into 2-system signals, and finally the signals are sent to a motion curve calculation module A with 10ms as a period.
The logic output module A in the CPU processing module A calls the time sequence information stored in the data storage module A, and controls other execution components such as a degasser, a selection valve and the like according to set time.
The reset module A in the CPU processing module A detects the data receiving and transmitting state of the CPU processing module A once every 10ms (one operation period), the CPU processing module A needs to send a flag word to the reset module A at regular time, if the flag word is not received in 10ms, the CPU processing module A is regarded as a fault and jumps out of the current state, and the motion curve calculation module A plans the current curve again. The part mainly protects the real-time performance and the safety of the module.
The surge suppression module A in the CPU processing module A mainly carries out filtering processing on an externally input DC24V power supply, reduces start-stop surge current, controls start surge to be less than 2 times of rated load, and protects a rear-stage circuit.
The voltage conversion module A in the CPU processing module A mainly converts the DC24V power supply flowing through the surge suppression module A into stable DC12V and DC5V power supplies required by each module at the later stage.
The CPU processing module B comprises a data storage module B, a motion curve calculation module B, a motor driving module B, a signal interface conversion module B, a logic output module B, a reset module B, a surge suppression module B and a voltage conversion module B.
The data storage module B in the CPU processing module B stores different compression ratios of different liquid media, and calls corresponding compression ratio parameters according to the media actually flowing through the liquid phase pump, and the compression ratio calculation method is from an initial pressure value P0(atmospheric pressure) start with initial volume V1Is compressed to a measured pressure value P1(60-120MPa), the fluid volume at this time is recorded as V1p is the same as the formula (I). From an initial pressure value P0Starting with an initial volume of V2The same kind of fluid is compressed to a measured pressure value P2(60-120MPa), recording the volume V of the fluid at that time2p is the same as the formula (I). Determining the volume V2With volume V1First volume difference (V) therebetween2-V1). Determining the volume V corresponding to the compression2p and compressed volume V1Second volume difference (V) between p2p-V1p). By said second volume difference (V)2p-V1p) and the first volume difference (V)2-V1) The obtained ratio determines the compression ratio: is (V)2p-V1p)/(V2-V1) (ii) a The compressibility of the fluid k ═ (1-)/(P) can be finally determined by the compression ratio2-P1)。
And a motion curve calculation module B in the CPU processing module B fits a motion speed curve of two stepping motors B-1 and B-2 of the liquid phase pump B along with time according to the current medium compression ratio parameter and parameters such as externally set liquid flow rate and processing volume. The stable speed formula of the B-1 motor is v1＝【K1(P1-P1 beginning of)V1C./t, wherein v1Is the stable running speed of the B-1 motor, K1For current liquid compressibility, P1Is the current pressure, P1 beginning ofAs initial pressure, V1Liquid volume, t is steady run time; b-2 motor stable speed formulaIs v is2＝-【K2(P2-P2 beginning of)V2C./t, wherein v2Is the stable running speed of the B-2 motor, K2For current liquid compressibility, P2Is the current pressure, P2 beginning ofAs initial pressure, V2Liquid volume, t is steady run time; after the CPU processing module determines the stable speed, a stable speed increasing curve and a stable speed decreasing curve are fitted, and finally the stable speed increasing curve and the stable speed decreasing curve are converted into pulses and direction signals required by the motor and are sent to the B-1 motor and the B-2 motor in real time.
And a motor driving module B in the CPU processing module B firstly subdivides pulse signals according to the pulse and direction signals of the stepping motors B-1 and B-2 determined by the motion curve calculating module B, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the stepping motors in a constant current chopping mode to complete speed control, forward and reverse rotation control, start and stop control and the like of the stepping motors.
The signal interface conversion module B in the CPU processing module B acquires the data of the pressure sensors at the outlet ends of the hydraulic cylinder driven by the B-1 motor and the hydraulic cylinder driven by the B-2 motor and converts the acquired signals into 2-system numbers; meanwhile, encoder signals arranged behind the B-1 motor and the B-2 motor are converted into 2-system signals, and finally the signals are sent to a motion curve calculation module B in a cycle of 10 ms.
The logic output module B in the CPU processing module B calls the time sequence information stored in the data storage module B and controls other execution components such as a six-way valve, a cleaning pump and the like according to set time.
The reset module B in the CPU processing module B detects the data receiving and transmitting state of the CPU processing module B every 10ms (one operation period), the CPU processing module B needs to send a flag word to the reset module B at regular time, if the flag word is not received in 10ms, the flag word is regarded as a fault, the current state is jumped out, and the motion curve calculation module B plans the current curve again. The part mainly protects the real-time performance and the safety of the module.
The surge suppression module B in the CPU processing module B mainly carries out filtering processing on an externally input DC24V power supply, reduces start-stop surge current, controls start surge to be less than 2 times of rated load, and protects a rear-stage circuit.
The voltage conversion module B in the CPU processing module B mainly converts the DC24V power supply flowing through the surge suppression module B into stable DC12V and DC5V power supplies required by each post-stage module.
The invention is further illustrated by the following figures and examples.
Examples
(1) Through an upper computer, the liquid pump A is selected to flow through 0.1 percent FA aqueous solution, the liquid pump B is selected to flow through 0.1 percent FA acetonitrile solution, the flow rate is 0.6ml/min, the volume is 60u L, and the pressure is 65 Mpa.
(2) The data storage module a in the CPU processing module a calls (1-)/(P) the corresponding compression rate parameter k of the current medium2-P1) 0.82357/Mpa and transmits the parameter to the motion curve calculation module a.
(3) The data storage block B in the CPU processing block B calls (1-)/(P) the corresponding compression rate parameter k of the current medium2-P1) 0.82389/PA and transmits the parameter to the motion curve calculation module B.
(4) A motion curve calculation module A in the CPU processing module A fits motion speed curves of two stepping motors A-1 and A-2 of the liquid phase pump A along with time according to parameters such as the current medium compression ratio parameter, the externally set liquid flow rate and the processing volume, and the like, wherein the stable speed of the motor A-1 is v1＝【K1(P1-P1 beginning of)V1T is 13.62mm/s, and the stable speed of A-2 motor is v2＝-【K2(P2-P2 beginning of)V2-4.76296 mm/s; after the CPU processing module determines the stable speed, a stable speed increasing curve and a stable speed decreasing curve are fitted, and finally the stable speed increasing curve and the stable speed decreasing curve are converted into pulses and direction signals required by the motor and are sent to the A-1 motor and the A-2 motor in real time.
(5) A motion curve calculation module B in the CPU processing module B fits motion speed curves of two stepping motors B-1 and B-2 of the liquid phase pump B along with time according to parameters such as the current medium compression ratio parameter, the externally set liquid flow rate and the processing volume, and the like, wherein the stable speed of the B-1 motor is v1＝【K1(P1-P1 beginning of)V1T is 14.0058mm/s, and the stable speed of B-2 motor is v2＝-【K2(P2-P2 beginning of)V2-7.68082 mm/s; after the CPU processing module determines the stable speed, a stable speed increasing curve and a stable speed decreasing curve are fitted, and finally the stable speed increasing curve and the stable speed decreasing curve are converted into pulses and direction signals required by the motor and are sent to the B-1 motor and the B-2 motor in real time.
(6) A motor driving module A in a CPU processing module A firstly subdivides pulse signals according to pulse and direction signals of stepping motors A-1 and A-2 determined by a motion curve calculating module A, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the stepping motors in a constant current chopping mode to complete speed control, forward and reverse rotation control, start and stop control and the like of the stepping motors.
(7) And a motor driving module B in the CPU processing module B firstly subdivides the pulse signals according to the pulse and direction signals of the stepping motors B-1 and B-2 determined by the motion curve calculating module B, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the stepping motors in a constant current chopping mode to complete speed control, forward and reverse rotation control, start and stop control and the like of the stepping motors.
(8) The motor position acquisition module sends real-time position signals of the four stepping motors to the CPU processing module A and the CPU processing module B at a high speed through the parallel port.
(9) A signal interface conversion module A in a CPU processing module A collects data of pressure sensors arranged at the outlet ends of a hydraulic cylinder driven by an A-1 motor and a hydraulic cylinder driven by an A-2 motor, converts collected signals into 2-system numbers, converts position signals of the A-1 motor and the A-2 motor collected by a motor position collection module into 2-system signals, and finally sends the signals to a motion curve calculation module A in a cycle of 10ms, the corrected stable speed is always kept at the speed of the A-1 motor of 13.62 +/-0.001 mm/s, the speed of the A-2 motor of-4.76296 +/-0.001 mm/s, the motion error of the motor is always within a range of 1 mu, and the flow rate of liquid is 0.6ml/min and the collection volume of the liquid is 60 mu L due to the fact that the stroke of the A-1 hydraulic cylinder and the A-2 hydraulic cylinder is 20mm, and the collection volume of the liquid is controlled within +/-0.33% in the motion process.
(10) The signal interface conversion module B in the CPU processing module B collects the pressure sensor data at the outlet ends of a hydraulic cylinder driven by a B-1 motor and a hydraulic cylinder driven by a B-2 motor, converts the collected signals into 2-system numbers, converts the position signals of the B-1 motor and the B-2 motor collected by the motor position collection module into 2-system signals, and finally sends the signals to the motion curve calculation module B in a cycle of 10ms, the corrected stable speed is always kept at 14.0058 +/-0.001 mm/s of the B-1 motor speed, 0.001mm/s of the B-2 motor speed is-7.68082 +/-0.001 mm/s, the motion error of the motor is always within 1 mu range, and the flow rate of liquid is 0.6ml/min and the liquid collection volume is 60 mu L due to the fact that the stroke of the B-1 hydraulic cylinder and the B-2 hydraulic cylinder is 20mm, and the liquid collection volume is controlled within +/-0.33% in the motion process.
(11) The logic output module A in the CPU processing module A calls the time sequence information stored in the data storage module A, transmits the control information to the output power amplification module according to the set time, and controls other execution components, such as a degasser, a selection valve and the like.
(12) The logic output module B in the CPU processing module B calls the time sequence information stored in the data storage module B, transmits the control information to the output power amplification module according to the set time, and controls other execution components, such as a six-way valve, a cleaning pump and the like.
Claims (7)
1. A liquid pump control system, characterized by: the control system comprises an upper computer module, a CPU processing module A, CPU processing module B, a pressure acquisition module, a motor position acquisition module, an output power amplification module and a circuit protection module;
the upper computer module is used for simultaneously sending the medium information flowing through the liquid phase pump A and the medium information flowing through the liquid phase pump B to the CPU processing module A and the CPU processing module B, and the upper computer module collects the motion position information and the current pressure information of the liquid phase pump returned by the CPU processing module A and the CPU processing module B in real time;
the pressure acquisition modules are respectively arranged at the outlet ends of the hydraulic cylinders driven by the motor A-1, the hydraulic cylinders driven by the motor A-2, the hydraulic cylinders driven by the motor B-1 and the hydraulic cylinders driven by the motor B-2, and are used for acquiring the current outlet pressure of each hydraulic cylinder in real time; the millivolt voltage is converted into binary codes inside the pressure acquisition module, and the binary codes are transmitted to the CPU processing module A and the CPU processing module B every 10ms through the RS485 serial port;
the motor position acquisition module consists of 16-bit absolute encoders arranged on four motor shafts A-1, A-2, B-1 and B-2, and real-time position signals of the four motors are sent to the CPU processing module A and the CPU processing module B at a high speed through parallel ports;
the output power amplifying module amplifies signals output by the CPU processing module A and the CPU processing module B;
the circuit protection module is used for carrying out voltage stabilization and current limitation on voltage input to the CPU processing module A and the CPU processing module B by an external input power supply;
the medium information flowing through the liquid phase pump A comprises the type of a medium, the liquid flow rate and the liquid collection volume, the medium information flowing through the liquid phase pump B comprises the type of the medium, the liquid flow rate and the liquid collection volume, and the upper computer sends the information to the CPU processing module A and the CPU processing module B through serial ports;
the CPU processing module A comprises a data storage module A, a motion curve calculation module A, a motor driving module A, a signal interface conversion module A, a logic output module A, a reset module A, a surge suppression module A and a voltage conversion module A;
the CPU processing module B comprises a data storage module B, a motion curve calculation module B, a motor driving module B, a signal interface conversion module B, a logic output module B, a reset module B, a surge suppression module B and a voltage conversion module B;
the data storage module A in the CPU processing module A stores different compression ratios of different liquid media, and calls corresponding compression ratio parameters according to the media actually flowing through the liquid phase pump, and the compression ratio calculation method is from an initial pressure value P0Starting with an initial volume of V1Is compressed to a measured pressure value P1Record the compression volume at this time as V1p; from an initial pressure value P0Starting with an initial volume of V2The same kind of fluid is compressed to a measured pressure value P2Record the compression volume at this time as V2p; determining the volume V2With volume V1First volume difference (V) therebetween2-V1) (ii) a Determining the volume V corresponding to the compression2p and compressed volume V1Second volume difference (V) between p2p-V1p); by said second volume difference (V)2p-V1p) and the first volume difference (V)2-V1) The obtained ratio determines the compression ratio: is (V)2p-V1p)/(V2-V1) (ii) a The compressibility of the fluid k ═ (1-)/(P) can be finally determined by the compression ratio2-P1)；
The data storage module B in the CPU processing module B stores different compression ratios of different liquid media, and calls corresponding compression ratio parameters according to the media actually flowing through the liquid phase pump, and the compression ratio calculation method is from an initial pressure value P0Starting with an initial volume of V1Is compressed to a measured pressure value P1Record the compression volume at this time as V1p; from an initial pressure value P0Starting with an initial volume of V2The same kind of fluid is compressed to a measured pressure value P2Record the compression volume at this time as V2p; determining the volume V2With volume V1First volume difference (V) therebetween2-V1) (ii) a Determining the volume V corresponding to the compression2p and compressed volume V1Second volume difference (V) between p2p-V1p); by said second volume difference (V)2p-V1p) and the first volume difference (V)2-V1) The obtained ratio determines the compression ratio: is (V)2p-V1p)/(V2-V1) (ii) a The compressibility of the fluid k ═ (1-)/(P) can be finally determined by the compression ratio2-P1)。
2. A liquid pump control system according to claim 1, wherein: the motion curve calculation module A in the CPU processing module A calculates the sum of the current medium compression ratio parameter and the externally set liquid flow rateProcessing the volume parameters, fitting the motion speed curves of two motors A-1 and A-2 of the liquid phase pump A along with the time, wherein the stable speed formula of the motor A-1 is v1＝【K1(P1-P1 beginning of)V1C./t, wherein v1Is A-1 motor stable running speed, K1For current liquid compressibility, P1Is the current pressure, P1 beginning ofAs initial pressure, V1Liquid volume, t is steady run time; the stable speed formula of the A-2 motor is v2＝-【K2(P2-P2 beginning of)V2C./t, wherein v2Is A-2 motor stable running speed, K2For current liquid compressibility, P2Is the current pressure, P2 beginning ofAs initial pressure, V2Liquid volume, t is steady run time; after the CPU processing module determines the stable speed, fitting a stable speed rising curve and a stable speed falling curve, finally converting the stable speed rising curve and the stable speed falling curve into pulses and direction signals required by the motor and sending the pulses and direction signals to the A-1 motor and the A-2 motor in real time;
a motion curve calculation module B in the CPU processing module B fits a motion speed curve of two motors B-1 and B-2 of the liquid phase pump B along with time according to the current medium compression ratio parameter and externally set liquid flow rate and processing volume; the stable speed formula of the B-1 motor is v1＝【K1(P1-P1 beginning of)V1C./t, wherein v1Is the stable running speed of the B-1 motor, K1For current liquid compressibility, P1Is the current pressure, P1 beginning ofAs initial pressure, V1Liquid volume, t is steady run time; the stable speed formula of the B-2 motor is v2＝-【K2(P2-P2 beginning of)V2C./t, wherein v2Is the stable running speed of the B-2 motor, K2For current liquid compressibility, P2Is the current pressure, P2 beginning ofAs initial pressure, V2Liquid volume, t is steady run time; after the CPU processing module determines the stable speed, a stable speed increasing curve and a stable speed decreasing curve are fitted, and finally the stable speed increasing curve and the stable speed decreasing curve are converted into pulses and direction signals required by the motor and are sent to the B-1 motor and the B-2 motor in real time.
3. A liquid pump control system according to claim 1, wherein: according to pulse and direction signals of the motors A-1 and A-2 determined by the motion curve calculation module A, a motor driving module A in the CPU processing module A firstly subdivides the pulse signals, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the motors in a constant current chopping mode to finish the speed control, the forward and reverse rotation control and the start and stop control of the motors;
and a motor driving module B in the CPU processing module B firstly subdivides pulse signals according to pulse and direction signals of the motors B-1 and B-2 determined by the motion curve calculating module B, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the motors in a constant current chopping mode to finish the speed control, the forward and reverse rotation control and the start and stop control of the motors.
4. A liquid pump control system according to claim 1, wherein: a signal interface conversion module A in the CPU processing module A acquires data of pressure sensors at the outlet ends of a hydraulic cylinder driven by an A-1 motor and a hydraulic cylinder driven by an A-2 motor, and converts acquired signals into 2-system numbers; meanwhile, encoder signals configured behind the A-1 motor and the A-2 motor are converted into 2-system signals, and finally the signals are sent to a motion curve calculation module A with 10ms as a period;
the signal interface conversion module B in the CPU processing module B acquires the data of the pressure sensors at the outlet ends of the hydraulic cylinder driven by the B-1 motor and the hydraulic cylinder driven by the B-2 motor and converts the acquired signals into 2-system numbers; meanwhile, encoder signals configured behind the B-1 motor and the B-2 motor are converted into 2-system signals, and finally the signals are sent to a motion curve calculation module B in a cycle of 10 ms;
the logic output module A in the CPU processing module A calls the time sequence information stored in the data storage module A and controls the degasser and the selection valve according to set time;
and the logic output module B in the CPU processing module B calls the time sequence information stored in the data storage module B and controls the six-way valve and the cleaning pump according to set time.
5. A liquid pump control system according to claim 1, wherein: the reset module A in the CPU processing module A detects the data receiving and sending state of the CPU processing module A once every 10ms, the CPU processing module A needs to send a flag word to the reset module A at regular time, if the flag word is not received in 10ms, the CPU processing module A is regarded as a fault and jumps out of the current state, and the motion curve calculation module A is enabled to plan the current curve again;
the reset module B in the CPU processing module B detects the data receiving and sending state of the CPU processing module B every 10ms, the CPU processing module B needs to send a flag word to the reset module B at regular time, if the flag word is not received in 10ms, the flag word is regarded as a fault, the current state is jumped out, and the motion curve calculation module B is enabled to plan the current curve again.
6. A liquid pump control system according to claim 1, wherein: the surge suppression module A in the CPU processing module A carries out filtering processing on an externally input DC24V power supply, reduces start-stop surge current, controls start surge to be less than 2 times of rated load, and protects a rear-stage circuit;
the surge suppression module B in the CPU processing module B performs filtering processing on an externally input DC24V power supply, reduces start-stop surge current, controls start surge to be less than 2 times of rated load, and protects a rear-stage circuit;
the voltage conversion module A in the CPU processing module A converts the DC24V power supply flowing through the surge suppression module A into stable DC12V and DC5V power supplies required by each rear-stage module;
the voltage conversion module B in the CPU processing module B converts the DC24V power supply flowing through the surge suppression module B into stable DC12V and DC5V power supplies required by each module at the later stage.
7. A liquid phase pump control method is characterized by comprising the following steps:
(1) the upper computer module sends the names of media, liquid flow rates and collected volume information which are manually set and flow through the liquid phase pump A and the liquid phase pump B to the CPU processing module A and the CPU processing module B through serial ports; meanwhile, the upper computer collects the motion position and the current pressure information of the liquid phase pump returned by the CPU processing module A and the CPU processing module B in real time;
(2) a data storage module A in the CPU processing module A calls a corresponding compression ratio parameter of a current medium and transmits the parameter to a motion curve calculation module A; the compression ratio is calculated from the initial pressure value P0Starting with an initial volume of V1Is compressed to a measured pressure value P1Record the volume of fluid at this time as V1p; from an initial pressure value P0Starting with an initial volume of V2The same kind of fluid is compressed to a measured pressure value P2Record the volume V of fluid at that time2p; determining the volume V2With volume V1First volume difference (V) therebetween2-V1) (ii) a Determining the volume V corresponding to the compression2p and compressed volume V1Second volume difference (V) between p2p-V1p); by said second volume difference (V)2p-V1p) and the first volume difference (V)2-V1) The obtained ratio determines the compression ratio: is (V)2p-V1p)/(V2-V1) (ii) a The compressibility of the fluid k ═ (1-)/(P) can be finally determined by the compression ratio2-P1)；
(3) The data storage module B in the CPU processing module B calls the corresponding compression ratio parameter of the current medium and transmits the parameter to the motion curve calculation module B; the compression ratio is calculated from the initial pressure value P0Starting with an initial volume of V1Is compressed to a measured pressure value P1Record the volume of fluid at this time as V1p; from an initial pressure value P0Starting with an initial volume of V2The same kind of fluid is compressed to a measured pressure value P2Record the volume V of fluid at that time2p; determining the volume V2With volume V1First volume difference (V) therebetween2-V1) (ii) a Determining the volume V corresponding to the compression2p and compressed volume V1Second volume difference (V) between p2p-V1p); by said second volume difference (V)2p-V1p) and the first volume difference (V)2-V1) The obtained ratio determines the compression ratio: is (V)2p-V1p)/(V2-V1) (ii) a The compressibility of the fluid k ═ (1-)/(P) can be finally determined by the compression ratio2-P1)；
(4) A motion curve calculation module A in the CPU processing module A fits motion speed curves of two motors A-1 and A-2 of the liquid phase pump A along with time according to the current medium compression ratio parameter and externally set liquid flow rate and processing volume, and the stable speed formula of the motor A-1 is v1＝【K1(P1-P1 beginning of)V1C./t, wherein v1Is A-1 motor stable running speed, K1For current liquid compressibility, P1Is the current pressure, P1 beginning ofAs initial pressure, V1Liquid volume, t is steady run time; the stable speed formula of the A-2 motor is v2＝-【K2(P2-P2 beginning of)V2C./t, wherein v2Is A-2 motor stable running speed, K2For current liquid compressibility, P2Is the current pressure, P2 beginning ofAs initial pressure, V2Liquid volume, t is steady run time; after the CPU processing module determines the stable speed, fitting a stable speed rising curve and a stable speed falling curve, finally converting the stable speed rising curve and the stable speed falling curve into pulses and direction signals required by the motor and sending the pulses and direction signals to the A-1 motor and the A-2 motor in real time;
(5) a motion curve calculation module B in the CPU processing module B fits a motion speed curve of two motors B-1 and B-2 of the liquid phase pump B along with time according to the current medium compression ratio parameter and externally set liquid flow rate and processing volume; the stable speed formula of the B-1 motor is v1＝【K1(P1-P1 beginning of)V1C./t, wherein v1Is the stable running speed of the B-1 motor, K1For current liquid compressibility, P1Is the current pressure, P1 beginning ofAs initial pressure, V1Liquid volume, t is steady run time; the stable speed formula of the B-2 motor isv2＝-【K2(P2-P2 beginning of)V2C./t, wherein v2Is the stable running speed of the B-2 motor, K2For current liquid compressibility, P2Is the current pressure, P2 beginning ofAs initial pressure, V2Liquid volume, t is steady run time; after the CPU processing module determines the stable speed, fitting a stable speed rising curve and a stable speed falling curve, finally converting the stable speed rising curve and the stable speed falling curve into pulses and direction signals required by the motor and sending the pulses and direction signals to the B-1 motor and the B-2 motor in real time;
(6) a motor driving module A in a CPU processing module A firstly subdivides pulse signals according to pulse and direction signals of motors A-1 and A-2 determined by a motion curve calculation module A, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the motors in a constant current chopping mode to finish the speed control, the forward and reverse rotation control and the start and stop control of the motors;
(7) a motor driving module B in a CPU processing module B firstly subdivides pulse signals according to pulse and direction signals of motors B-1 and B-2 determined by a motion curve calculating module B, controls the minimum step length to be 0.036 degrees, and transmits the pulse signals to the motors in a constant current chopping mode to finish the speed control, the forward and reverse rotation control and the start and stop control of the motors;
(8) the motor position acquisition module consists of 16-bit absolute encoders arranged on four motor shafts A-1, A-2, B-1 and B-2, and real-time position signals of the four motors are sent to the CPU processing module A and the CPU processing module B at a high speed through parallel ports;
(9) a signal interface conversion module A in the CPU processing module A acquires data of pressure sensors arranged at the outlet ends of a hydraulic cylinder driven by an A-1 motor and a hydraulic cylinder driven by an A-2 motor, and converts acquired signals into 2-system numbers; meanwhile, the position signals of the A-1 and A-2 motors collected by the motor position collecting module are converted into 2-system signals, and finally the signals are sent to the motion curve calculating module A by taking 10ms as a period; the motion curve calculation module A analyzes according to the real-time pressure parameters and the encoder parameters, and corrects the motor motion curve in real time;
(10) a signal interface conversion module B in the CPU processing module B acquires pressure sensor data at the outlet ends of a hydraulic cylinder driven by a B-1 motor and a hydraulic cylinder driven by a B-2 motor, and converts acquired signals into 2-system numbers; meanwhile, the position signals of the B-1 and B-2 motors acquired by the motor position acquisition module are converted into 2-system signals, and the signals are finally sent to the motion curve calculation module B in a cycle of 10 ms; the motion curve calculation module B analyzes according to the real-time pressure parameters and the encoder parameters and corrects the motor motion curve in real time;
(11) a logic output module A in the CPU processing module A calls the time sequence information stored in the data storage module A, transmits control information to an output power amplification module according to set time, and controls a degasser and a selection valve;
(12) a logic output module B in the CPU processing module B calls the time sequence information stored in the data storage module B, transmits control information to an output power amplification module according to set time, and controls the six-way valve and the cleaning pump;
(13) the output power amplification module is used for amplifying output signals of a logic output module A in the CPU processing module A and a logic output module B in the CPU processing module B;
(14) a reset module A in the CPU processing module A detects the data receiving and sending state of the CPU processing module A once every 10ms, the CPU processing module A needs to send a flag word to the reset module A at regular time, if the flag word is not received in 10ms, the flag word is regarded as a fault, the current state is jumped out, and the motion curve calculation module A is enabled to plan the current curve again;
(15) the reset module B in the CPU processing module B detects the data receiving and sending state of the CPU processing module B every 10ms, the CPU processing module B needs to send a flag word to the reset module B at regular time, if the flag word is not received in 10ms, the flag word is regarded as a fault, the current state is jumped out, and the motion curve calculation module B is enabled to plan the current curve again.
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| CN110794069A (en) * | 2019-10-08 | 2020-02-14 | 北京卫星制造厂有限公司 | Micro-upgrade volume-based organic solvent liquid compressibility online test method and system |
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