CN110792834B - Electric valve capable of realizing error compensation control and working method thereof - Google Patents
Electric valve capable of realizing error compensation control and working method thereof Download PDFInfo
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- CN110792834B CN110792834B CN201910976333.0A CN201910976333A CN110792834B CN 110792834 B CN110792834 B CN 110792834B CN 201910976333 A CN201910976333 A CN 201910976333A CN 110792834 B CN110792834 B CN 110792834B
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- brushless motor
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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
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/04—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor
- F16K31/041—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor for rotating valves
- F16K31/042—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor for rotating valves with electric means, e.g. for controlling the motor or a clutch between the valve and the motor
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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
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/04—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor
- F16K31/041—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor for rotating valves
- F16K31/043—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor for rotating valves characterised by mechanical means between the motor and the valve, e.g. lost motion means reducing backlash, clutches, brakes or return means
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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
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/44—Mechanical actuating means
- F16K31/53—Mechanical actuating means with toothed gearing
- F16K31/535—Mechanical actuating means with toothed gearing for rotating valves
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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
- F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
- F16K37/0075—For recording or indicating the functioning of a valve in combination with test equipment
- F16K37/0083—For recording or indicating the functioning of a valve in combination with test equipment by measuring valve parameters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Electrically Driven Valve-Operating Means (AREA)
Abstract
An electric valve with error compensation control function is used for the flow regulation process of fluid in the process industry. The invention is composed of a DC brushless motor, a controller, a motor driver, a cylindrical gear reducer, a worm gear mechanism, a valve rod, a valve core, a valve body, a limit switch, a photoelectric encoder and the like. The direct current brushless motor is installed in the motor groove, and output shaft fixed connection cylindrical gear reducer, the reduction gear end links to each other with worm gear mechanism, turbine and valve rod rigid coupling, and valve rod one end drives the case and rotates, and the other end installs photoelectric encoder additional for positioning error's demarcation. When the electric valve is in a working state, the controller circularly judges and outputs an error compensation control signal, so that the interference of return errors on the positioning process is effectively avoided. The invention has the advantages that the return error can be calibrated in advance, so that the electric valve has the function of self-restraining the error, and the positioning precision of the electric valve is effectively improved.
Description
Technical Field
The invention belongs to an electric valve with an error compensation control function, and particularly relates to a novel electric valve improved on the basis of a domestic common ZJKV type electric valve.
Background
The domestic common electric valve is widely applied to the flow regulation process in the process industry, and the positioning precision of the domestic common electric valve plays a decisive role in maintaining the accuracy of the flow of the fluid. The common electric valve body belongs to open-loop control and is driven by a three-phase asynchronous motor, the rotation angle of a valve core is determined by the electrifying time, and the electric valve only has positioning accuracy of 1/100 and can meet the flow regulation requirement of single-loop control. However, for the flow proportioning process of two or more materials, such as beverage preparation, pulp preparation and the like, the practice proves that 1/500 precision is often required to meet the production requirement, so the ZJKV type electric valve is difficult to be met. Compared with the prior art, the electric valves produced by foreign Metro and BTG companies have the precision of 15000-20000 steps, are only used in special occasions with high precision requirements, are high in price and are not suitable for popularization and application, for example, the price of a single high-precision valve of DN125 is 18-20 ten thousand yuan, so that many domestic enterprises are forbidden. At present, no intermediate product with appropriate technical and economic indexes exists in the market, and the requirement of flow regulation in the process industry cannot be well met. Therefore, the improvement of the precision level of the domestic common ZJKV type electric valve has important significance.
Because a certain clearance is certainly formed between the driving gear and the driven gear, when the valve rod is converted into the reverse rotation after the positive rotation, the driven gear can drive the valve rod to move after the clearance is eliminated even though the driving gear rotates within a certain angle. In high precision valve control, the back lash is an unavoidable error factor in the valve control process. Therefore, how to eliminate or compensate the reverse clearance is a technical problem which must be overcome by the high-precision control of the valve.
Disclosure of Invention
On the basis of the hardware of the domestic ZJKV electric valve, the asynchronous motor is replaced by the direct current brushless motor, the direct current brushless motor driving control circuit is configured, the trapezoidal positioning curve is included, the photoelectric encoder is additionally arranged at the position of the valve rod and used for calibrating the mechanical clearance of a transmission system of the electric valve in a laboratory, the control unit can be embedded into a hood of the electric valve, and the electromechanical control integration is realized in appearance.
An electric valve with error compensation control function comprises a direct current brushless motor, wherein an output shaft of the direct current brushless motor is connected with a valve core through a speed reducer. The rotor rotation angle detection device is arranged on the direct current brushless motor and detects the angular displacement or the rotating speed of the rotor when the direct current brushless motor works. The valve core corner detection device is arranged on the valve rod, and detects the angular displacement or the rotating speed of the valve rod when the direct current brushless motor works. And the input end of the controller is respectively connected with the rotor corner detection device and the valve core corner detection device, and the output end of the controller is connected with the input end of the direct current brushless motor. And the controller calculates the reverse clearance according to the received output signals of the rotor corner detection device and the valve core corner detection device.
The reverse clearance is the difference of the angular displacement of the rotor and the valve core.
The DC brushless motor provided by the invention can work in the following way: before executing the rotation action of the valve core, the controller firstly judges whether the target angular displacement is the same as the previous angular displacement. If the two are the same, the reverse clearance is judged to be not existed, and the valve core is directly rotated. If not, the reverse clearance is compensated and the valve core is rotated.
When the reverse clearance is compensated, the energizing time of the direct current brushless motor is prolonged, the angular displacement of the valve core which should be generated in the prolonged period is exactly equal to the reverse clearance, and the reverse clearance is just eliminated by the reverse rotation of the rotor.
Further, the rotor angle detection device and the valve core angle detection device are Hall elements or rotary encoders. In the embodiment, a Hall element is adopted to detect the angular displacement (or the rotating speed) of the rotor, and a rotary encoder is adopted to detect the angular displacement (or the rotating speed) of the valve core.
The specific scheme is as follows: the utility model provides an electrically operated valve with error compensation control function, comprises direct current brushless motor, motor drive, controller, limit switch, photoelectric encoder, cylindrical gear, worm gear, valve rod, case and valve body, characterized by: the direct current brushless motor is arranged in a motor groove, an output shaft is sequentially connected with a cylindrical gear, a worm wheel and a valve rod, and a valve core is driven by the valve rod; an output signal line of a Hall sensor in the direct current brushless motor is connected with an input port of a motor driver; an output signal line of the photoelectric encoder is connected with an input port of the controller, and the photoelectric encoder is not installed in the working state of the valve; the output end of the controller is connected with the control signal end of the motor driver, and the output power end of the motor driver is connected with the power line of the direct-current brushless motor. The ladder positioning algorithm is implemented based on ATMega328P chip, and the programming process of the algorithm is performed in c language in the programming environment of Arduino IDE.
Furthermore, the output shaft of the brushless DC motor is fixedly connected with 1 cylindrical gear, and the reduction ratio of a speed reducer formed by 2 or more cylindrical gears is 1500: 1; the worm wheel is fixedly connected with the valve rod, the worm wheel and the valve rod synchronously rotate, one end of the valve rod is connected with the valve core, and the other end of the valve rod is connected with the photoelectric encoder; the output end of the photoelectric encoder is fixedly connected with 1 cylindrical gear, and the cylindrical gear is meshed with another cylindrical gear fixedly connected to the valve rod.
Furthermore, the trapezoidal positioning curve describes the actual rotation rule of the valve core, when the valve core starts to rotate from a standstill with the maximum acceleration, the valve core immediately enters a deceleration process with the same acceleration value after the acceleration process is finished, and when the valve core decelerates to zero, the rotated angle of the valve core is the thinnest operating angle; the thinnest operating angle corresponds to the highest execution precision of the valve, and the sum of the thinnest operating angle and the rotation angle of the valve core in the constant speed stage is equal to the target rotation angle.
Furthermore, the target rotation angle and the trapezoidal acceleration and deceleration positioning curve have a strict corresponding relationship, when the valve core rotates reversely, the target rotation angle is necessarily affected by the mechanical clearance, and a return error is generated, that is, a process that only the rotor of the dc brushless motor rotates and the valve core does not rotate exists.
Furthermore, the return error of the electric valve is calibrated by the cooperation of the hall sensor, the photoelectric encoder and the controller, the controller obtains return error data of the electric valve by measuring the difference of angular displacement detected by the hall sensor and the photoelectric encoder when the valve core rotates reversely, the return error data is used as the basis of error compensation control, the error data is not updated under the normal working state of the electric valve, if the error data needs to be updated, the photoelectric encoder needs to be additionally arranged on the electric valve under the condition of a laboratory, and the controller reads in the angular displacement count value again.
Further, the controller unifies dimensions of two paths of analog quantity input signals of the Hall sensor and the photoelectric encoder through operation, calls an interruption subprogram for judging whether a return clearance exists, records opening adjusting directions of the electric valve continuously twice before and after, and respectively represents by numerical values 0 and 1, when the numerical value is 0, the electric valve is in a valve opening state, when the numerical value is 1, the electric valve is in a valve closing state, when a difference value between the two is 0, return error compensation is not needed, and otherwise, the controller calls an error compensation control subprogram.
Furthermore, the rotation angle corresponding to the return error is added to the original target rotation angle to obtain a correct target rotation angle, so that the electric valve runs according to a trapezoidal acceleration and deceleration positioning curve strictly in the action process of opening or closing the valve.
In summary, the method for calculating the reverse clearance of the electric valve comprises the following steps:
the direct current brushless motor is operated and drives the valve core to rotate, and then the operation is terminated; the direct current brushless motor is reversely operated and drives the valve core to rotate; when the direct current brushless motor runs reversely, the rotor corner detection device detects the angular displacement or the rotating speed of the rotor, and the valve core corner detection device detects the angular displacement or the rotating speed of the valve core; and calculating the reverse clearance according to the detection signal of the rotor corner detection device and the detection signal of the valve core corner detection device.
The reverse clearance is the difference of the angular displacement of the rotor and the valve core.
The working method for compensating the reverse clearance of the electric valve comprises the following steps:
before the dc brushless motor performs the valve core rotation, first determine whether the target angular displacement is the same as the previous angular displacement? If the two are the same, judging that no reverse clearance exists, and only executing the rotation of the valve core; if the difference is different, the energizing time of the direct current brushless motor is prolonged when the valve core is rotated, and the angular displacement of the valve core in the prolonged time period is just equal to the reverse clearance.
The invention has the beneficial effects that:
the novel electric valve actuator is completely compatible with a domestic common electric valve in appearance, the original transmission system of the electric valve is reserved, and only the driving motor is replaced by a direct-current brushless motor from an asynchronous motor; according to the mechanical characteristics of the direct current brushless motor, the output torque and the rotating speed are in a linear proportional relation, and the linear relation of the rotation angle of the valve core and the time can be ensured; the electric valve corner closed-loop control system is configured, the function of error compensation is given to the electric valve corner closed-loop control system, and the trapezoidal speed preset algorithm is used in the positioning process of the valve, so that the positioning precision of the electric valve is effectively improved. The invention has the unique advantages in appearance that: the control unit is small in size, and in the actual use process, the control panel can be placed in a hood of the electric valve, so that the electromechanical control integration is realized in appearance.
Drawings
FIG. 1 is a schematic view of the structure of an electric valve according to the present invention;
FIG. 2 is a schematic view of the internal principle of the electrically operated valve of the present invention;
FIG. 3 is a schematic view of a closed loop control system for the electrically operated valve of the present invention;
FIG. 4 is a schematic view of a trapezoidal acceleration/deceleration positioning curve of the electrically operated valve;
FIG. 5 is a block diagram of a closed-loop control circuit for the speed of the electrically operated valve of the present invention;
FIG. 6 is a schematic view of the return error clearance of the electrically operated valve of the present invention;
FIG. 7 is a flow chart of a return error compensation control strategy for an electrically operated valve in accordance with the present invention;
the main element symbols are as follows: 1. a hood; 2. a motor groove; 3. a DC brushless motor; 4. a cylindrical gear reduction box; 5. a worm; 6. a worm gear; 7. a limit switch; 8. a photoelectric encoder; 9. a valve body; 10. a valve stem; 11. a valve core; 12. valve pipeline.
Detailed Description
In order to more clearly describe the present invention, the electrically operated valve for performing the closed loop control of the rotational angle will now be further described in detail with reference to the accompanying drawings.
An electric valve with error compensation control function is provided, wherein a hardware unit comprises a direct current brushless motor, a motor driver, a controller, a limit switch, a photoelectric encoder, a cylindrical gear, a worm gear, a valve rod, a valve core and a valve body. The direct current brushless motor is arranged in a motor groove, an output shaft of the direct current brushless motor is sequentially connected with a cylindrical gear, a worm wheel and a valve rod, and a valve core is synchronously driven by the valve rod; an output signal line of a Hall sensor in the direct current brushless motor is connected with an input port of a motor driver; an output signal line of the photoelectric encoder is connected with an input port of the controller, and the photoelectric encoder is not installed in the working state of the valve; the output end of the controller is connected with the control signal end of the motor driver, and the output power end of the motor driver is connected with the power line of the direct-current brushless motor.
The output shaft of the brushless DC motor is fixedly connected with 1 cylindrical gear, and the reduction ratio of a speed reducer formed by 2 or more cylindrical gears is 1500: 1.
The worm wheel is fixedly connected with the valve rod, the worm wheel and the valve rod synchronously rotate, one end of the valve rod is connected with the valve core, and the other end of the valve rod is connected with the photoelectric encoder.
The output end of the photoelectric encoder is fixedly connected with 1 cylindrical gear, and the cylindrical gear is meshed with another cylindrical gear fixedly connected to the valve rod.
The controller unifies the dimensions of two paths of analog quantity input signals of the Hall sensor and the photoelectric encoder through operation, and calls an interruption subprogram for judging whether a return clearance exists.
The controller records the opening adjusting directions of the electric valve continuously twice before and after, and respectively represents with numerical values 0 and 1, when the numerical value is 0, the electric valve is in an open valve state, and when the numerical value is 1, the electric valve is in a close valve state.
And the controller makes a difference between the numerical values describing the action directions of the valve core twice, and when the difference value between the numerical values and the numerical value is 0, the return stroke error does not need to be compensated, otherwise, the controller calls an error compensation control subprogram.
The return error of the electric valve is calibrated by the cooperation of the Hall sensor, the photoelectric encoder and the controller, the controller obtains return error data of the electric valve through the difference of angular displacement detected by the Hall sensor and the photoelectric encoder when the metering valve core rotates reversely, the return error data is used as the basis of error compensation control, the error data is not updated under the normal working state of the electric valve, if the error data needs to be updated, the photoelectric encoder needs to be additionally arranged on the electric valve under the laboratory condition, and the controller reads in an angular displacement counting value again.
The concrete description is as follows:
fig. 1 shows the structural composition of the electric valve of the present invention, which adopts a dc brushless motor 3 as a driving source, a cylindrical gear box 4 as a speed reducer, and a worm and gear mechanism (5, 6) to realize a reversing function, specifically: the rotor output shaft of the brushless DC motor 3 is connected with a cylindrical gear reducer 4, the center of the tail end of the cylindrical gear is rigidly and fixedly connected with a worm 5 to form a coaxial shaft, the rotating shaft of the motor 3 is decelerated by the cylindrical gear 4 and torque is increased by a worm wheel 6 and the worm 5, then power is transmitted to a valve rod 10, and finally the valve rod 10 drives a valve core 11 to complete rotation. When the valve rod 10 is collided with the position designated by the limit switch 7 in the forward rotation or the reverse rotation, the valve core 11 is described to be rotated to the full-open or full-closed limit position at the moment, and the electric valve can be automatically powered off, so that the protection function of the valve core 11 is realized.
With reference to the valve structure shown in fig. 1, fig. 2 illustrates the basic principle of the interior of the electric valve of the present invention, taking an angular stroke electric valve as an example, the valve converts the circular motion form of the output shaft of the dc brushless motor into the angular motion form of the valve core within the range of 0 to 90 °. The mechanical characteristics of the direct current brushless motor have leading influence on the positioning performance of the valve core, and the positioning accuracy of the electric valve can be improved to a certain extent by controlling the motor.
Fig. 3 shows the structural composition of the closed-loop control system of the electric valve of the present invention, in terms of hardware design, a development board with model number LY-F2 is used as a main controller, the development board has 14 digital I/O pins and 6 analog input pins, and a control chip with model number ATMega328P is used, and the clock frequency of the chip can reach 16 MHZ. The model of the direct current brushless motor driver is AQMD3605BLS, a rotor speed closed-loop control mode is supported, and a photoelectric isolation converter with the model of U-485G is configured, so that RS485 communication is realized to learn detailed parameters of the motor. In the aspect of a power supply system, a module partition power supply mode is adopted, the LY-F2 development board is provided with 7-9V input voltage by an independent power supply or a computer, and the motor driver is provided with 24V input voltage by a switching power supply. In the aspect of program design, based on a computer with a processor of Intel (R) core (TM) i5-4200 CPU @1.60Hz 2.30GHz, IDE programming software with a compatible version is downloaded, a USB-to-serial port driver CH341 is installed, data communication is carried out through a port COM3, the program is burnt and written to a single chip microcomputer and is permanently stored, after the controller is powered on, the controller directly enters a program execution state, if the program needs to be changed, the program needs to be communicated through the port again, and the updated program is downloaded to the single chip microcomputer. The valve control system has the function of monitoring the opening and closing states of the electric valve in real time.
Fig. 4 is a trapezoidal acceleration/deceleration positioning curve of the electric valve, where the speed curve includes a uniform acceleration process, a uniform speed process, and a uniform deceleration process, and can describe the whole motion characteristics of the valve element more completely, the acceleration in the acceleration process and the acceleration in the deceleration process are equal in magnitude and opposite in direction, the elapsed time in the acceleration/deceleration process is the same, and in the trapezoidal acceleration/deceleration curve, the relationship between the speed and the time is:
when the rotor of the brushless DC motor reaches the specified rotating speed in the acceleration process, the uniform speed motion process is not carried out, the speed reduction stage is directly entered, the angular displacement generated by the valve core when the rotating speed is reduced to zero is called as the finest operating angle of the valve, the smaller the finest operating angle is, the higher the subdivision degree of the rotation angle of the electric valve is, the finer the action of the valve core is, and the method for determining the finest operating angle is to increase the acceleration value and reduce the time consumption in the acceleration and deceleration processes. The direct current brushless motor has a stepless speed regulation function, which means that in a trapezoidal speed curve, the maximum value of the speed can be set through a driver, the acceleration cannot exceed the allowable acceleration value under the normal application condition of the direct current brushless motor, and when the acceleration keeps the allowable value, the time consumed by the rotor in the acceleration and deceleration processes is the shortest, namely the angular displacement rotated by the valve core is the finest operating angle of the electric valve.
Fig. 5 is a block diagram of a speed closed-loop control circuit of the electric valve of the present invention, wherein the dc brushless motor operates in a speed adjusting mode, the control circuit adopts a rotation speed-current cascade negative feedback adjustment, a winding current control circuit is used as an inner loop, a rotation speed control circuit is used as an outer loop, and a valve core position signal is used as an output, and the current value of a stator winding and the driving torque are changed by sequential conduction of a PWM adjusting power tube, so as to achieve the purpose of speed adjustment, so that the rotation speed of the valve core at any time is maintained at a speed set value. The speed setting is the specific time allocation result of the trapezoidal speed curve, and is not described herein again.
Fig. 6 illustrates the driveline lash of the electrically operated valve of the present invention. Mechanical clearances inevitably exist between the driving motor and the transmission member, between the transmission members, and between the transmission members and the shutoff valve core during power transmission, and are particularly common during gear meshing. When the actuator rotates forwards, the positioning precision of the valve core is not affected by the transmission mechanical clearance, and the forward error caused by the mechanical clearance is completely eliminated after two or more times of effective forward rotations; when the actuator is rotated in the reverse direction, the encoder detects a slower position than the actual position. The mechanical error is generated at the moment of reverse rotation, namely only the driving gear rotates, and the driven gear is in a neutral state. The existence of the return error can certainly cause the positioning accuracy of the electric valve to be reduced, and an error compensation strategy is needed to eliminate the influence.
Fig. 7 illustrates a return error compensation control strategy flow of the electric valve of the present invention, first determining whether clearance compensation is required, respectively using the values of 0 and 1 to represent the opening adjustment direction (large or small) of the valve, using the current valve opening state to make a difference with the last valve opening adjustment direction state, when the difference between the current valve opening state and the last valve opening adjustment direction state is 0, representing that the current valve opening state is the same as the last time, and no compensation of the mechanical transmission clearance of the valve is required; when the difference is not 0 (namely-1 or 1), the current opening direction of the valve is opposite to the previous opening direction, and mechanical transmission clearance compensation is required to be carried out, and the specific operation is as follows: the rotation time of the valve core is prolonged, and the compensation angle corresponding to the part is equal to the mechanical clearance value between the gears.
Claims (7)
1. An electrically operated valve having an error compensation control function, comprising:
the brushless DC motor comprises a rotor rotation angle detection device; the output shaft of the direct current brushless motor is connected with the valve core through a speed reducer;
the rotor corner detection device detects the angular displacement or the rotating speed of the rotor when the direct-current brushless motor works;
the valve core corner detection device detects the angular displacement or the rotating speed of the valve core when the direct current brushless motor works;
the input end of the controller is respectively connected with the rotor corner detection device and the valve core corner detection device, and the output end of the controller is connected with the input end of the direct current brushless motor; and the controller calculates the reverse clearance according to the received output signals of the rotor corner detection device and the valve core corner detection device.
2. An electrically operated valve with error compensation control as set forth in claim 1 wherein said back lash is the difference in angular displacement of the rotor and spool.
3. The electrically operated valve with error compensation control function as claimed in claim 1, wherein before the dc brushless motor performs the valve core rotation action, the controller first determines whether the target angular displacement is the same as the previous angular displacement; if the two are the same, judging that no reverse clearance exists, and directly executing the rotation of the valve core; if not, the reverse clearance is compensated and the valve core is rotated.
4. An electrically operated valve having an error compensation control function according to claim 3, wherein when the reverse gap is compensated, the energization time of the dc brushless motor is extended so that the angular displacement of the spool which should be generated during the extended period of time is exactly equal to the reverse gap.
5. The electrically operated valve with an error compensation control function according to claim 1, wherein the rotor angle detecting means and the spool angle detecting means are hall elements or rotary encoders.
6. The method for calculating the reverse clearance of the electric valve with the error compensation control function as claimed in any one of claims 1 to 5, is characterized by comprising the following steps:
the direct current brushless motor is operated and drives the valve core to rotate, and then the operation is terminated;
the direct current brushless motor is reversely operated and drives the valve core to rotate;
when the direct current brushless motor runs reversely, the rotor corner detection device detects the angular displacement or the rotating speed of the rotor, and the valve core corner detection device detects the angular displacement or the rotating speed of the valve core;
and calculating the reverse clearance according to the detection signal of the rotor corner detection device and the detection signal of the valve core corner detection device.
7. The method for compensating the reverse clearance of the electric valve with the error compensation control function as claimed in any one of claims 1 to 5, comprising the steps of:
before the direct current brushless motor executes the rotation action of the valve core, firstly judging whether the target angular displacement is the same as the previous angular displacement or not;
if the two are the same, judging that no reverse clearance exists, and only executing the rotation of the valve core;
if the difference is different, the energizing time of the direct current brushless motor is prolonged when the valve core is rotated, and the angular displacement of the valve core in the prolonged time period is just equal to the reverse clearance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910976333.0A CN110792834B (en) | 2019-10-15 | 2019-10-15 | Electric valve capable of realizing error compensation control and working method thereof |
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| CN201910976333.0A CN110792834B (en) | 2019-10-15 | 2019-10-15 | Electric valve capable of realizing error compensation control and working method thereof |
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| CN110792834B true CN110792834B (en) | 2021-07-06 |
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| CN114518631B (en) * | 2020-11-19 | 2023-08-18 | 成都极米科技股份有限公司 | Null back elimination method, device, electronic equipment and computer readable storage medium |
| CN114518630B (en) * | 2020-11-19 | 2023-09-01 | 成都极米科技股份有限公司 | Null back elimination method, device, electronic equipment and computer readable storage medium |
| CN112709859B (en) * | 2020-12-21 | 2022-07-19 | 广西中烟工业有限责任公司 | Valve opening control method and device, electronic equipment and storage medium |
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| CN110792834A (en) | 2020-02-14 |
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Effective date of registration: 20220919 Address after: No. 1-4, Row 7, District A, Daming Palace Building Materials Home Furnishing City Management Industry, No. 1, Third Ring North, Taihua North Road, Weiyang District, Xi'an City, Shaanxi Province 710000 Patentee after: Jinlaibang Automatic Control Valve Co.,Ltd. Address before: 710021 Shaanxi province Xi'an Weiyang university campus of Shaanxi University of Science and Technology Patentee before: SHAANXI University OF SCIENCE & TECHNOLOGY |