CN112558552A - Open-loop stepping servo controller, servo control system and servo control method - Google Patents
Open-loop stepping servo controller, servo control system and servo control method Download PDFInfo
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Abstract
The invention belongs to the technical field of servo control, and particularly relates to an open-loop stepping servo controller, a servo control system and a servo control method, wherein the servo controller comprises: the device comprises an input switch conversion module, a control signal conversion module, a microprocessor and a stepping drive module; the input switch conversion module is connected with the microprocessor and used for acquiring the opening and closing position signals of the terminal of the electric regulating valve; the control signal conversion module is connected with the microprocessor and used for converting a control analog signal of the electric regulating valve into a control digital signal; the microprocessor is respectively connected with the input switch conversion module, the control signal conversion module and the stepping drive module and is used for measuring and calculating real-time valve position analog signals of the electric control regulating valve and generating stepping motor control signals; and the stepping driving module is connected with the microprocessor and used for carrying out data processing on the control signal generated by the microprocessor to generate a stepping motor driving signal. The invention can accurately position, quickly respond, and stably and reliably control.
Description
Technical Field
The invention belongs to the technical field of servo control, and particularly relates to an open-loop stepping servo controller, a servo control system and a servo control method.
Background
The electric regulating valve has high regulating precision, good integration degree with an advanced automatic control system, flexible control mode and capability of realizing digital control and distributed control; has the advantages of simple structure and small volume; the air conditioner is applied instead of a pneumatic regulator, an auxiliary compressed air system and a regulator zero-position system are eliminated, and energy consumption and maintenance cost are reduced. With the comprehensive application of the first generation electric regulating valve in engineering, some shortcomings to be improved appear:
the first generation of electric regulating valve motor uses an alternating current synchronous speed reducing motor, the angular travel of the regulating valve normally moves at a constant speed, so that the dynamic response range of the regulating process is narrow, and when the process has large fluctuation or the input change is large, the regulated output cannot follow the control input, so that the regulated control output is saturated, and cascade accident protection action is easily triggered. In order to meet the demand of automatic adjustment of the process in a wider range, the dynamic response capability of the electric control valve needs to be improved urgently.
Because the valve position sensor is a contact angular travel detection element, the contact valve position sensor runs in a narrow working area for a long time at high frequency in a positive and reverse travel mode under the condition of stable process working conditions, so that a conducting layer of a substrate in the working area is abraded, indented and even broken at the contact part of the conducting layer and an electric brush.
The coaxiality deviation of the valve position sensor and the cam output shaft becomes larger along with the increase of the operation time, the damage speed of the valve position sensor is accelerated, and the safe operation of a process system is threatened.
Therefore, it is urgently needed to develop a control technology with high positioning accuracy, fast response speed and good stability to control the electric control valve, so as to overcome the existing defects of the electric control valve.
Disclosure of Invention
The invention aims to provide an open-loop stepping servo controller, a servo control system and a servo control method, which can accurately position, quickly respond, and stably and reliably control.
The technical scheme for realizing the purpose of the invention is as follows:
an open loop stepper servo controller, the servo controller comprising: the device comprises an input switch conversion module, a control signal conversion module, a microprocessor and a stepping drive module; the input switch conversion module is connected with the microprocessor and used for acquiring the opening and closing position signals of the terminal of the electric regulating valve; the control signal conversion module is connected with the microprocessor and is used for converting a control analog signal of the electric regulating valve into a control digital signal; the microprocessor is respectively connected with the input switch conversion module, the control signal conversion module and the stepping drive module and is used for measuring and calculating a real-time valve position analog signal of the electric control regulating valve and generating a stepping motor control signal; and the stepping driving module is connected with the microprocessor and used for processing data of the control signal generated by the microprocessor to generate a stepping motor driving signal.
Furthermore, the microprocessor comprises a real-time valve position open-loop signal conversion module and a stepping motor control module; the real-time valve position open-loop signal conversion module is used for measuring and calculating a real-time valve position analog signal of the electric control regulating valve and calculating to obtain a current real-time valve position digital signal; and the stepping motor control module is used for reading and comparing the control digital signal of the electric regulating valve with the current real-time valve position digital signal and generating a stepping motor control signal according to the comparison result.
Furthermore, the microprocessor also comprises an adjusting module which is used for realizing the adjusting function of the real-time valve position signal of the electric control valve following the control signal through an acceleration and deceleration control algorithm of an S-shaped curve transformation square range.
Furthermore, the microprocessor also comprises an abnormal protection module which is used for monitoring the power supply voltage of the microprocessor and saving system data when the voltage is abnormal.
Further, the anomaly protection module is a programmable voltage monitor.
Furthermore, the abnormal protection module comprises an EEPROM module, and the EEPROM module is used for storing the current position of the stepping motor in power failure.
Further, the step driving module is a two-phase hybrid step motor driver.
Furthermore, the servo controller also comprises an operation module which is connected with the microprocessor and used for realizing the modification of the field control parameters of the electric regulating valve and the switching of the working mode on the open-loop stepping servo controller.
Furthermore, the servo controller also comprises a display module which is connected with the microprocessor and used for displaying the current working state and the real-time valve position signal of the servo controller and the control valve position signal of the electric regulating valve.
Furthermore, the servo controller further comprises a power supply module, which is connected with an external power supply system and used for supplying power to the servo controller.
Furthermore, the servo controller also comprises an I/O conversion module which is connected with an external automatic control system and used for realizing the functions of collecting and remotely controlling the field working state and information of the servo controller.
Furthermore, the I/O conversion module is a USB interface or a JTAG interface and is used for realizing the downloading and communication functions of an external program.
An open loop stepper servo control system, the servo control system comprising: the system comprises an open-loop stepping servo controller, a stepping motor, an electric regulating valve and an electric regulating valve terminal switch; the electric control valve terminal switch is respectively connected with the electric control valve and the open-loop stepping servo controller and is used for controlling the opening and closing positions of the electric control valve terminal and outputting the opening and closing position signals of the electric control valve terminal to the open-loop stepping servo controller; the open-loop stepping servo controller is respectively connected with the electric regulating valve terminal switch and the stepping motor and is used for outputting a stepping motor driving signal; the stepping motor is respectively connected with the open-loop stepping servo controller and the electric regulating valve and is used for running according to the driving signal; the electric regulating valve is connected with the stepping motor, and the stepping motor drives the electric regulating valve to be linked with the electric regulating valve.
Furthermore, the electric regulating valve comprises a worm and gear transmission mechanism, and the electric regulating valve is linked with the stepping motor through the worm and gear transmission mechanism.
Further, the electric control valve terminal switch is a light-sensitive switch.
An open loop stepping servo control method, the servo control method comprising:
and 6, the stepping motor receives the stepping motor driving signal transmitted by the stepping driving module and operates according to the stepping motor driving signal.
Further, in the step 4, if the value of the digital signal controlled by the electric regulating valve is greater than the value of the digital signal of the current real-time valve position, the stepping motor control signal generated by the stepping motor control module is that the stepping motor rotates forwards; if the numerical value of the control digital signal of the electric regulating valve is smaller than the numerical value of the current real-time valve position digital signal, the stepping motor control signal generated by the stepping motor control module is the reversing of the stepping motor; and if the numerical value of the control digital signal of the electric control valve is equal to the numerical value of the current real-time valve position digital signal or within the dead zone range set by the program, continuously reading the control digital signal of the electric control valve.
The invention has the beneficial technical effects that:
(1) the open-loop stepping servo controller can effectively improve the response speed and the adjustment precision of the electric adjusting valve, enhance the performance of the adjusting valve changing along with input, and enlarge the output dynamic response range of the adjusting valve;
(2) the open-loop stepping servo controller provided by the invention has the advantages that the original valve position sensor is removed, the problem of high failure rate is solved, and the continuous operation reliability and economy of a process system are improved;
(3) the open-loop stepping servo control system can electrically adjust the front-back pressure difference and the pipe diameter of the valve according to the process node, adjust the running time of the valve and improve the capability of the electric adjusting valve to adapt to different working conditions;
(4) the open-loop stepping servo control system has a simple installation structure, effectively reduces the cost, is convenient to maintain, adopts various interface modes, is beneficial to realizing automatic management, and can be popularized and applied in the subsequent engineering construction on a large scale.
Drawings
FIG. 1 is a block diagram of an open-loop stepping servo control system according to the present invention;
FIG. 2 is a block diagram of a microprocessor of an open-loop servo controller according to the present invention;
FIG. 3 is a timing diagram of a control signal conversion module in an open-loop step servo controller according to the present invention;
FIG. 4 is a graph of the S-shaped curve involved in the adjustment module of an open-loop step servo controller according to the present invention;
FIG. 5 is a PVD control diagram of an abnormal protection module when a working power supply triggers a PVD function under an under-voltage condition in an open-loop stepping servo controller according to the present invention, so that a field controller is in a local working mode;
fig. 6 is a PVD control diagram of an abnormal protection module when a POR function is triggered after an abnormal restart of a field controller and a local working mode is entered in an open-loop step servo controller according to the present invention.
In the figure: 1-open loop stepping servo controller; 2-a step motor; 3-electric regulating valve; 4-electric regulating valve terminal switch; 11-an input switch conversion module; 12-a control signal conversion module; 13-a microprocessor; 14-step driving module; 15-an operation module; 16-a display module; 17-a power supply module; 18-I/O conversion module; 131-a real-time valve position open-loop signal conversion module; 132-stepper motor control module; 133-a conditioning module; 134-exception protection module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1-2, the present invention provides an open-loop stepping servo controller, comprising: the system comprises an input switch conversion module 11, a control signal conversion module 12, a microprocessor 13, a stepping drive module 14, an operation module 15, a display module 16, a power supply module 17 and an I/O conversion module 18, wherein the microprocessor 13 comprises a real-time valve position open-loop signal conversion module 131, a stepping motor control module 132, a regulation module 133 and an abnormality protection module 134.
The input switch conversion module 11 is connected with the microprocessor 13 and is used for acquiring the opening and closing position signals of the terminal of the electric regulating valve; the control signal conversion module 12 is connected with the microprocessor 13 and is used for converting a control analog signal of the electric regulating valve into a control digital signal; the microprocessor 13 is respectively connected with the input switch conversion module 11, the control signal conversion module 12 and the stepping drive module 14 and is used for measuring and calculating real-time valve position analog signals of the electric control regulating valve and generating stepping motor control signals; the stepping driving module 14 is connected with the microprocessor 13 and is used for performing data processing on the control signal generated by the microprocessor 13 to generate a stepping motor driving signal, and the stepping driving module 14 is a two-phase hybrid stepping motor driver; the servo controller also comprises an operation module 15 which is connected with the microprocessor 13 and used for realizing the modification of the field control parameters and the switching of the working modes of the electric regulating valve on the open-loop stepping servo controller; the servo controller also comprises a display module 16 which is connected with the microprocessor 13 and is used for displaying the current working state and real-time valve position signals of the servo controller and control valve position signals of the electric regulating valve; the servo controller further comprises a power supply module 17, which is connected with an external power supply system and used for supplying power to the servo controller; the servo controller also comprises an I/O conversion module 18 which is connected with an external automatic control system and used for realizing the functions of collecting the field working state and information of the servo controller and remotely controlling the servo controller, and the I/O conversion module 18 is a USB interface or a JTAG interface and used for realizing the functions of downloading and communicating external programs.
A control signal conversion module 12, after starting ADC conversion and 14 clock periods, an EOC mark is set, a 12-bit ADC data register contains the conversion result, and the ADC needs a stable time T before starting accurate conversionSTAB。
The timing diagram is shown in FIG. 3, in which: ADC: D/A signal conversion; ADC _ CLK: an analog-to-digital signal conversion clock; SET ADON: setting an analog-to-digital conversion clock; ADC power on: triggering analog-to-digital conversion; start 1stconversion: starting a first conversion; start next conversion: starting the next conversion; ADC Conversion: ADC conversion; next ADC Conversion: next ADC conversion; EOC: resetting control; tSTAB: resetting the time interval; conversion Time: converting time; total conv time: the total time; software resets EOC bit: software resets the EOC bit.
In the ADC initialization setting, the AHB peripheral clock enable register DMA1 clock is first turned on, the amount of converted data is defined, the initialization of channel 1 of the DMA is set, the sampling time of the channel is independently selected, the watchdog is set in channel 1, the ADC1 is turned on and conversion is started, the continuous conversion mode is applied, the DMA mode is used, then the conversion rule channel is started, and the conversion from the analog amount to the data amount is completed. Because the control signal conversion module 12 selects an STM32 chip with 12-bit precision ADC, the sampling and A/D conversion speed is increased from original 10 microseconds to 5 microseconds, and the response speed and the regulation precision of the electric regulating valve are improved.
As shown in fig. 2, the microprocessor 13 includes a real-time valve position open-loop signal conversion module 131, a stepper motor control module 132, a regulation module 133, and an anomaly protection module 134.
And the real-time valve position open-loop signal conversion module 131 is used for measuring and calculating a real-time valve position analog signal of the electric control regulating valve and calculating to obtain a current real-time valve position digital signal.
The terminal photoelectric switch is installed and adjusted according to the mechanical zero point and the mechanical full point of the electric regulating valve, the open-loop stepping servo controller of the electric regulating valve on site sets and controls the rotating speed frequency of the stepping motor, the value refers to the running time of the electric regulating valve at the process node, and the calculation formula of the running time of the electric regulating valve is as follows:
the subdivision number is to subdivide the step angle of the stepping motor, the step angle of the stepping motor without subdivision is 1.8 degrees, the subdivision number is 1, namely, one pulse stepping motor rotates by 1.8 degrees.
On the basis of meeting the safety operation, the electric control valve is operated to perform reciprocating full-stroke operation, at the moment, the real-time valve position open-loop signal conversion module 131 of the field servo controller of the electric control valve measures and calculates real-time valve position analog signals of the electric control valve, automatically calibrates the total stepping number, calibrates the fully-closed position as the initial stepping number, and the corresponding value is 0%, and calibrates the fully-open position as the final stepping number, and the corresponding value is 100%. And calculating to obtain a current real-time valve position signal value according to the current stepping number, wherein the calculation formula of the current virtual real-time valve position signal value is as follows:
number of final steps-number of initial steps-total number of steps
Once the total number of steps is determined, i.e. the total travel of the electrovalve is determined, this value is constant and is the reference for determining the current actual valve position.
The real-time valve position open-loop signal conversion module 131 is adopted, the closed loop of the original valve position sensor is removed firstly, the real-time measurement and calculation of the current valve position are realized, and the operation reliability of the electric regulating valve is improved and the control is convenient. Meanwhile, the operation forming time of the electric regulating valve is changed, the control pulse fundamental frequency of the stepping motor of the electric regulating valve is changed, the rotation speed is controllable and adjustable, the adaptability and the response speed of the electric regulating valve to the process working condition are improved, and the problem of high failure rate of the original valve position sensor in closed-loop control is solved.
And the stepping motor control module 132 is used for reading and comparing the control digital signal of the electric regulating valve and the current real-time valve position digital signal, and generating a stepping motor control signal according to the comparison result.
The stepping motor control module 132 reads the control digital signal of the electric control valve transmitted by the control signal conversion module 12 and the current real-time valve position digital signal transmitted by the real-time valve position open-loop signal conversion module 131, compares the two signals, and controls the forward and reverse operation of the stepping motor. If the value of the digital signal for controlling the electric regulating valve is greater than the value of the digital signal for the current real-time valve position, the stepping motor control signal generated by the stepping motor control module 132 is the forward rotation of the stepping motor; if the value of the digital signal for controlling the electric regulating valve is smaller than the value of the digital signal for controlling the current real-time valve position, the step motor control signal generated by the step motor control module 132 is the step motor reverse rotation; and if the numerical value of the control digital signal of the electric regulating valve is equal to the numerical value of the current real-time valve position digital signal or within the dead zone range set by the program, continuously reading the control digital signal of the electric regulating valve. Otherwise, the display is recalculated.
And the adjusting module 133 is configured to implement the function of adjusting the real-time valve position signal of the electric control valve along with the control signal through an acceleration and deceleration control algorithm of an S-shaped curve transformation equation.
The controlled object is gas, so that the rapid regulation can cause self-excitation, when the stepping motor is adopted, on one hand, the stalling phenomenon is easy to occur during starting, on the other hand, the influence of rapid rotation on the process fluid is large, S-shaped curves in various common algorithms of the stepping motor are very smooth, a speed regulation process with continuous speed and continuous acceleration can be obtained, but the acceleration process of an S-shaped curve equation is long and is not completely suitable for the invention, so that the acceleration and deceleration control algorithm with the operation mode of an S-shaped curve transformation process is adopted, and the matching of the rotating speed of the stepping motor and the characteristics of the controlled object is realized. The derivation process of the S-shaped curve transformation equation is as follows:
the equation for the sigmoid curve is as follows:
the graph of the S-shaped curve at the (-5, 5) is shown in FIG. 4, and obviously, the acceleration process of the (-5, 5) curve is longer, which is not suitable for the invention, so the equation of the S-shaped curve is modified.
The equation is translated in an XY coordinate system, and simultaneously the curve is subjected to pull-up change:
the component A is translated in the y direction, the component B is stretched in the y direction, and the component ax + B is translated and stretched in the x direction.
Gain at the starting point: lowest frequency (freq _ min);
maximum gain: maximum frequency (freq _ max);
horizontal axis range: 0 to t;
translating the horizontal coordinate, performing telescopic transformation, and performing telescopic transformation on the vertical coordinate to obtain an S-shaped curve transformation equation as follows:
the adjusting module 133 detects the slope change of the current electric control valve control signal and the real-time valve position signal in real time, realizes the adjusting function of the real-time valve position signal of the electric control valve following the control signal according to the acceleration and deceleration control algorithm of the S-shaped curve transformation equation, completes the real-time adjustment control of the electric control valve, and judges the correctness and the trueness of the current electric control valve control signal, the real-time valve position signal and the channel thereof, and once the channel is broken or abnormal, the servo controller is timely arranged in a local working mode, thereby ensuring the absolute safety of the process system.
And the abnormal protection module 134 is configured to monitor the power supply voltage of the microprocessor 13, and store system data when the voltage is abnormal.
The abnormal protection module 134 includes an EEPROM module, which is used to store the current position of the stepping motor when the power is off, so as to avoid the problem that the stepping motor may not store the current stepping number when the control board is powered off. The EEPROM chip is 24C02, and the capacity of the chip is 2 Kb. The working power supply monitoring circuit is used for monitoring the stability of the working power supply in real time, when the fluctuation range of the power supply is larger than a set value or power failure occurs, the current valve position value is timely registered, the servo controller is arranged in a local working mode, and meanwhile, a field abnormal signal is uploaded.
When the voltage is too low, the abnormal protection module 134 saves some data of the system by using the EEPROM which is not lost when the power is down, and performs corresponding protection operation on the external device.
As shown in fig. 5-6, the anomaly protection module 134 is a Programmable voltage monitor (PVD). FIG. 5 is a PVD control diagram of a abnormal protection module when a working power supply is under-voltage triggered to perform a PVD function in an open-loop stepping servo controller according to the present invention, so that a field controller is in a local working mode; fig. 6 is a PVD control chart of an abnormal protection module when a POR function is triggered after an abnormal restart of a field controller and a local working mode is entered in an open-loop step servo controller according to the present invention; the PVD control protection parameter description referred to in FIGS. 5 and 6 is shown in Table 1.
TABLE 1 PVD control protection parameter description
The working principle of PVD is as follows:
PVD is used to monitor the supply voltage and when the supply voltage drops below a given threshold, an interrupt is generated informing the software to do emergency treatment. In the upper half of table 1 is programmable monitoring threshold data. When the supply voltage is restored to the given valueWhen the threshold value is higher than the threshold value, an interrupt is generated to inform the software of power supply recovery. The threshold value of the power supply descending and the PVD threshold value of the power supply ascending have a fixed difference value, and the difference value is PVD delay (V)PVDhyst) Referring to table 1, PVD hysteresis can be seen by listing PVD threshold data. The PVD delay is introduced, so that the voltage can be effectively prevented from shaking slightly above or below the threshold value, and interrupts are frequently generated.
As shown in fig. 6, the Power On Reset (POR) function is to keep the chip Reset until the supply Voltage (VDD) rises from low to high across a specified threshold, and when a short time after the specified threshold is crossed, and "dead time" in fig. 6 or "Reset hysteresis" in table 1, the Reset is ended and the Reset vector is fetched, and the command is executed. The 4 th row from the last (min 1.8, typ 1.88, max 1.96) in table 1 is the threshold. The Power Down Reset (PDR) has a function of resetting the internal part of the chip after the VDD voltage drops from high to low and crosses a predetermined threshold, which is the 3 rd to last row (min is 1.84, typ is 1.92, and max is 2.0) in table 1. Obviously, POR is 0.04V greater than PDR, which is the PDR hysteresis, i.e. the 2 nd last row in table 1, VPDRhyst (PDR hysteresis) is 40 mV.
When VDD rises past the POR threshold, the internal does not end the Reset immediately, but waits a short period of time, i.e., Reset latency, i.e., the last row T in table 1RSTTEMPOIts typical value is 2.5 ms. The delay time is for waiting for the power supply voltage to rise above the lowest reliable operating voltage, as can be seen from table 1, the threshold of POR is only 1.8V at the minimum and only 1.96V at the maximum, which are both lower than the lowest reliable operating voltage 2.0V given in the data manual, so this delay time is very necessary, and if the power supply voltage rises slowly, especially from 1.8V to 2.0V above for more than 1-2.5 ms, it is likely that the MCU cannot operate normally after power-on reset.
PVD monitors the stability of the real-time working power supply of the circuit by monitoring the power supply voltage VDD, registers the current valve position value in time when the fluctuation range of the power supply is larger than a set value or power failure occurs, places the servo controller in a local working mode, and uploads a field abnormal signal at the same time.
As shown in fig. 1, the present invention provides an open-loop stepping servo control system, which includes: the system comprises an open-loop stepping servo controller 1, a stepping motor 2, an electric regulating valve 3 and an electric regulating valve terminal switch 4.
The electric control valve terminal switch 4 is a light sensing switch, is respectively connected with the electric control valve 3 and the open-loop stepping servo controller 1, and is used for controlling the opening and closing positions of the electric control valve 3 and outputting electric control valve terminal opening and closing position signals to the open-loop stepping servo controller 1.
The positioning accuracy of the end position detecting element, i.e., the electric regulator valve end switch 4, directly determines the electric regulator valve position servo accuracy corresponding to the fully closed and fully open positions of the regulator valve. The open-loop stepping servo controller 1 of the invention calculates the valve position opening value according to the positioning precision and stability of the full-closed and full-open terminal positions, and the light-sensitive switch has high positioning precision, fast output response and very good electric signal consistency and stability.
The open-loop stepping servo controller 1 is respectively connected with the electric regulating valve terminal switch 4 and the stepping motor 2 and is used for outputting a stepping motor driving signal.
The stepping motor 2 is respectively connected with the open-loop stepping servo controller 1 and the electric regulating valve 3 and is used for running according to the driving signal.
The electric regulating valve 3 comprises a worm gear transmission mechanism, the worm gear transmission mechanism is connected with the stepping motor 2, and the electric regulating valve 3 is linked with the stepping motor 2 through the worm gear transmission mechanism.
As shown in fig. 1 and fig. 2, the open-loop stepping servo control method provided by the present invention includes:
and 6, the stepping motor 2 receives the stepping motor driving signal transmitted by the stepping driving module 14 and operates according to the stepping motor driving signal.
As shown in fig. 1 and 2, the operation process of the open-loop step servo control system of the electric control valve 3 provided by the present invention is as follows:
(1) electrifying the open-loop stepping servo controller 1 through the power supply module 17, and checking the correctness of the initial state (including the state that the on-site servo controller is in the on-site working state, the valve position is kept unchanged, and an on-site working state signal is output to the outside) of the open-loop stepping servo controller 1;
(2) the electric regulating valve 3 is controlled by the electric regulating valve terminal switch 4, so that the electric regulating valve 3 is switched from full-closed to full-open and then from full-open to full-closed, and the consistency of the mechanical zero point and the full point with the electrical zero point and the full point is repeatedly corrected for several times;
(3) setting the control pulse frequency of a stepping motor, and recording and calibrating key reference parameters such as initial stepping number, final stepping number, valve running time and the like;
(4) the electric regulating valve 3 is manually operated on site, and the linearity and stability of a valve position signal are checked;
(5) the open-loop stepping servo controller 1 is powered on and off, and the real-time valve position keeping function is verified;
(6) the electric regulator is arranged in a remote control manual control mode, so that the electric regulating valve 3 is closed manually in a remote control mode;
(7) confirming that the electric regulating valve 3 is in a closed state;
(8) the open-loop stepping servo controller 1 is switched on manually by remote control, and the electric regulating valve 3 is slowly switched on for operation;
(9) when the pressure reaches a control value, the electric control valve 3 is put into an automatic working mode, and a control signal conversion module 12 sends out a control signal of the electric control valve to realize the function of regulating the opening of the valve position;
(10) and changing the set value parameter of the controlled pressure, and verifying the function of the real-time valve position signal of the electric regulating valve to follow the control signal.
The present invention has been described in detail with reference to the drawings and examples, but the present invention is not limited to the examples, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention. The prior art can be adopted for the content which is not described in detail in the invention.
Claims (17)
1. An open loop stepper servo controller, the servo controller comprising: the device comprises an input switch conversion module (11), a control signal conversion module (12), a microprocessor (13) and a stepping drive module (14);
the input switch conversion module (11) is connected with the microprocessor (13) and is used for acquiring the opening and closing position signals of the terminal of the electric regulating valve;
the control signal conversion module (12) is connected with the microprocessor (13) and is used for converting a control analog signal of the electric regulating valve into a control digital signal;
the microprocessor (13) is respectively connected with the input switch conversion module (11), the control signal conversion module (12) and the stepping drive module (14) and is used for measuring and calculating real-time valve position analog signals of the electric control regulating valve and generating stepping motor control signals;
and the stepping driving module (14) is connected with the microprocessor (13) and is used for carrying out data processing on the control signal generated by the microprocessor (13) to generate a stepping motor driving signal.
2. An open loop stepper servo controller as claimed in claim 1, wherein the microprocessor (13) comprises a real time valve position open loop signal conversion module (131) and a stepper motor control module (132);
the real-time valve position open-loop signal conversion module (131) is used for measuring and calculating a real-time valve position analog signal of the electric control regulating valve and calculating to obtain a current real-time valve position digital signal;
and the stepping motor control module (132) is used for reading and comparing the control digital signal of the electric regulating valve and the current real-time valve position digital signal and generating a stepping motor control signal according to the comparison result.
3. An open-loop stepping servo controller according to claim 2, wherein the microprocessor (13) further comprises a regulating module (133) for realizing the function of regulating the real-time valve position signal following control signal of the electric control valve through an acceleration and deceleration control algorithm of an S-shaped curve transformation equation.
4. An open loop stepping servo controller according to claim 2, wherein the microprocessor (13) further comprises an abnormality protection module (134) for monitoring the supply voltage of the microprocessor (13) and saving the system data when the voltage abnormality occurs.
5. An open loop stepping servo controller according to claim 4 wherein the anomaly protection module (134) is a programmable voltage monitor.
6. An open loop stepper servo controller as claimed in claim 5, wherein the anomaly protection module (134) comprises an EEPROM module for saving the current position of the stepper motor when power is lost.
7. An open loop stepper servo controller as claimed in claim 1, wherein the stepper drive module (14) is a two-phase hybrid stepper motor driver.
8. An open-loop stepping servo controller according to claim 1, wherein the servo controller further comprises an operation module (15) connected to the microprocessor (13) for implementing the modification of the field control parameters and the switching of the operation mode of the electric regulating valve on the open-loop stepping servo controller.
9. An open loop stepping servo controller according to claim 1, wherein the servo controller further comprises a display module (16) connected to the microprocessor (13) for displaying the current operating status and real time valve position signals of the servo controller and the control valve position signals of the electric control valve.
10. An open loop stepping servo controller according to claim 1, wherein said servo controller further comprises a power supply module (17) connected to an external power supply system for supplying power to the servo controller.
11. An open-loop stepping servo controller according to claim 1, wherein the servo controller further comprises an I/O conversion module (18) connected to an external automatic control system for implementing the functions of collecting the field working state and information of the servo controller and remotely controlling the servo controller.
12. An open loop stepping servo controller according to claim 11, wherein said I/O conversion module (18) is a USB interface or a JTAG interface for implementing external program downloading and communication functions.
13. An open loop stepper servo control system, the servo control system comprising: an open loop stepper servo controller (1), a stepper motor (2), an electric regulator valve (3) and an electric regulator valve end switch (4) as claimed in any of claims 1-12;
the electric regulating valve terminal switch (4) is respectively connected with the electric regulating valve (3) and the open-loop stepping servo controller (1) and is used for controlling the opening and closing positions of the electric regulating valve terminal and outputting electric regulating valve terminal opening and closing position signals to the open-loop stepping servo controller (1);
the open-loop stepping servo controller (1) is respectively connected with the electric regulating valve terminal switch (4) and the stepping motor (2) and is used for outputting a stepping motor driving signal;
the stepping motor (2) is respectively connected with the open-loop stepping servo controller (1) and the electric regulating valve (3) and is used for running according to a driving signal;
the electric regulating valve (3) is connected with the stepping motor (2), and the stepping motor (2) drives the electric regulating valve (3) to be linked with the electric regulating valve.
14. An open loop stepping servo control system according to claim 13, wherein the electric control valve (3) comprises a worm gear transmission, and the electric control valve (3) is linked with the stepping motor (2) through the worm gear transmission.
15. An open loop stepping servo control system according to claim 13, wherein said electric control valve end switch (4) is a light sensitive switch.
16. An open-loop stepping servo control method, the servo control method comprising:
step 1, an input switch conversion module (11) of an open-loop stepping servo controller (1) collects signals of the opening and closing positions of a terminal of an electric control valve, and transmits the signals of the opening and closing positions of the terminal of the electric control valve to a real-time valve position open-loop signal conversion module (131);
step 2, a real-time valve position open-loop signal conversion module (131) receives the terminal opening and closing position signals of the electric control regulating valve transmitted by the input switch conversion module (11), measures and calculates real-time valve position analog signals of the electric control regulating valve according to the terminal opening and closing position signals of the electric control regulating valve, calculates to obtain current real-time valve position digital signals, and transmits the current real-time valve position digital signals to a stepping motor control module (132);
step 3, the control signal conversion module (12) receives a control analog signal of the electric regulating valve, converts the control analog signal of the electric regulating valve into a control digital signal, and transmits the control digital signal of the electric regulating valve to the stepping motor control module (132);
step 4, the stepping motor control module (132) reads the electric regulating valve control digital signal and the current real-time valve position digital signal, compares the electric regulating valve control digital signal with the current real-time valve position digital signal, generates a stepping motor control signal according to the comparison result, and transmits the stepping motor control signal to the stepping drive module (14);
step 5, the stepping drive module (14) receives the stepping motor control signal transmitted by the stepping motor control module (132), performs data processing on the stepping motor control signal, generates a stepping motor drive signal, and transmits the stepping motor drive signal to the stepping motor (2);
and 6, the stepping motor (2) receives the stepping motor driving signal transmitted by the stepping driving module (14) and operates according to the stepping motor driving signal.
17. An open-loop stepping servo control method according to claim 16, wherein in step 4, if the value of the digital signal for controlling the electric control valve is greater than the value of the digital signal for controlling the current real-time valve position, the stepping motor control signal generated by the stepping motor control module (132) is the forward rotation of the stepping motor (2); if the numerical value of the control digital signal of the electric regulating valve is smaller than the numerical value of the current real-time valve position digital signal, the control signal of the stepping motor generated by the control module (132) of the stepping motor is the reverse rotation of the stepping motor (2); and if the numerical value of the control digital signal of the electric control valve is equal to the numerical value of the current real-time valve position digital signal or within the dead zone range set by the program, continuously reading the control digital signal of the electric control valve.
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