WO2023174357A1

WO2023174357A1 - Electric valve/gate and valve driver thereof

Info

Publication number: WO2023174357A1
Application number: PCT/CN2023/081801
Authority: WO
Inventors: 周文; 赵战国; 张大鹏; 赵刚; 郑璐明; 王泽平; 王晓江
Original assignee: 北京雷蒙赛博核装备技术研究有限公司
Priority date: 2022-03-17
Filing date: 2023-03-16
Publication date: 2023-09-21
Also published as: CN116792550A

Abstract

An electric valve/gate and a valve driver thereof, the electric valve/gate comprising the valve driver. The valve driver comprises a housing, a core controller, and a variable-frequency drive module. The core controller adjusts an output torque or an output torque limit of the variable-frequency drive module in real time, so as to meet valve response speed and a control accuracy requirements, and comprises: a logic control unit, setting a corresponding set torque according to an opening and closing process of a valve/gate, and sending the set torque to the variable-frequency drive module, so as to drive an alternating-current asynchronous motor using the set torque as the output torque or the output torque limit, execute a corresponding valve/gate opening or closing action; a real-time torque detection unit, acquiring a real-time running torque of the alternating-current asynchronous motor or the valve/gate; and a torque correction unit, correcting the output torque using a PID control algorithm according to the real-time torque and the set torque, i.e., using the set torque as an input and using the real-time torque as a feedback, so as to immediately adjust the output torque.

Description

一种电动阀/门及其阀门驱动器An electric valve/door and its valve driver

技术领域Technical field

本发明涉及阀/门驱动技术，特别是一种电动阀/门及其阀门驱动器。The present invention relates to valve/gate driving technology, in particular to an electric valve/gate and its valve driver.

背景技术Background technique

现有技术的阀/门电动装置大多采用电源直接启动交流异步电动机，通过驱动器控制电动机带动机械传动机构驱动阀/门运行，实现开阀/关阀。交流异步电动机因结构简单、运行可靠、重量轻、价格便宜且启动扭矩较大等优点，在阀/门电动装置中获得较广泛应用，但在使用过程中存在如下问题：Most of the valve/door electric devices in the existing technology use the power supply to directly start the AC asynchronous motor, and use the driver to control the motor to drive the mechanical transmission mechanism to drive the valve/door to open/close the valve. AC asynchronous motors are widely used in valve/gate electric devices due to their simple structure, reliable operation, light weight, cheap price and large starting torque. However, there are the following problems during use:

1)交流异步电动机的扭矩控制精度低，扭矩和转速动态范围小(峰值扭矩和速度受限)，加上介质温度、异物、锈蚀等因素影响，交流异步电动机的驱动扭矩无法克服阻力矩，导致开阀时阀/门打不开；阀/门在运行过程中交流异步电动机的转速固定，开阀/关阀速度不变，关阀到达止点时造成阀座的动载荷过载，导致阀/门关严后打不开，现有技术的阀/门存在“打不开”、“关不严”、“停不准”的问题；1) The torque control accuracy of AC asynchronous motors is low, the dynamic range of torque and speed is small (peak torque and speed are limited), coupled with the influence of factors such as medium temperature, foreign matter, rust, etc., the driving torque of AC asynchronous motors cannot overcome the resistance torque, resulting in The valve/door cannot be opened when the valve is opened; during the operation of the valve/door, the rotation speed of the AC asynchronous motor is fixed, and the valve opening/closing speed remains unchanged. When the valve is closed and reaches the end point, the dynamic load of the valve seat is overloaded, causing the valve/door to open. The door cannot be opened after it is tightly closed. The existing valves/doors have problems such as "not opening", "not closing tightly", and "not stopping accurately";

2)无法获得阀/门的实时位置信息，无法实现全行程高精度位置控制；2) The real-time position information of the valve/door cannot be obtained, and high-precision position control of the full stroke cannot be achieved;

3)无法控制关阀到位时的阀座的受力大小，易造成阀/门关不严，导致阀/门内漏；阀/门长期使用中磨损、老化、电参数漂移等导致的特性变化，导致理论输出值和实际输出值误差大，关阀到位时的阀座的受力大小不稳定；3) Unable to control the force on the valve seat when the valve is closed in place, which may easily cause the valve/door to not close tightly, leading to internal leakage of the valve/door; the valve/door's characteristics will change due to wear, aging, electrical parameter drift, etc. during long-term use. , resulting in a large error between the theoretical output value and the actual output value, and the force on the valve seat when the valve is closed is unstable;

4)未考虑交流异步电动机物理特性差异，导致扭矩、速度、位置控制精度差，扭矩和转速动态范围小，批量产品性能不一致。4) The differences in physical characteristics of AC asynchronous motors are not considered, resulting in poor torque, speed, and position control accuracy, small dynamic ranges of torque and speed, and inconsistent performance of batch products.

发明内容Contents of the invention

本发明所要解决的技术问题是针对现有技术的上述缺陷，提供一种电动阀/门及其阀门驱动器。The technical problem to be solved by the present invention is to provide an electric valve/gate and its valve driver in view of the above-mentioned defects of the prior art.

为了实现上述目的，本发明提供了一种阀门驱动器，包括壳体和安装在所述壳体内的核心控制器和变频驱动模块，所述变频驱动模块分别与所述核心控制器和交流异步电动机连接，其中，所述核心控制器通过实时调整所述变频驱动模块的输出扭矩或输出扭矩限值，满足阀/门的控制要求，所述核心控制器包括：In order to achieve the above object, the present invention provides a valve driver, which includes a housing, a core controller and a variable frequency drive module installed in the housing. The variable frequency drive module is connected to the core control module respectively. The controller is connected to an AC asynchronous motor, wherein the core controller meets the control requirements of the valve/door by adjusting the output torque or output torque limit of the variable frequency drive module in real time. The core controller includes:

逻辑控制单元，根据阀/门执行开启和关闭过程各阶段的需求设定相应的设定扭矩，并将所述设定扭矩发送至所述变频驱动模块，所述变频驱动模块以所述设定扭矩为输出扭矩或输出扭矩限值驱动所述交流异步电动机执行相应的阀/门开启或关闭动作；The logic control unit sets the corresponding set torque according to the requirements of each stage of the valve/door opening and closing process, and sends the set torque to the variable frequency drive module. The variable frequency drive module uses the set The torque is the output torque or the output torque limit drives the AC asynchronous motor to perform the corresponding valve/gate opening or closing action;

实时扭矩检测单元，获取所述交流异步电动机或阀/门运行的实时扭矩；以及A real-time torque detection unit to obtain the real-time torque of the AC asynchronous motor or valve/gate operation; and

扭矩修正单元，根据所述实时扭矩和设定扭矩，以所述设定扭矩为输入，以所述实时扭矩为反馈，采用PID控制算法对所述输出扭矩进行修正，以根据所述实时扭矩调节所述输出扭矩的响应速度和控制精度。A torque correction unit, based on the real-time torque and the set torque, using the set torque as input, using the real-time torque as feedback, and using a PID control algorithm to correct the output torque to adjust according to the real-time torque The response speed and control accuracy of the output torque.

上述的阀门驱动器，其中，所述实时扭矩通过扭矩传感器直接获取，所述扭矩传感器安装在所述交流异步电动机的输出轴、减速传动箱的输出轴或驱动机构上，并与所述实时扭矩检测单元连接，将测得的实时扭矩信号传送至所述实时扭矩检测单元。In the above valve driver, the real-time torque is directly obtained through a torque sensor. The torque sensor is installed on the output shaft of the AC asynchronous motor, the output shaft of the reduction transmission box or the driving mechanism, and is connected with the real-time torque detection. The unit is connected to transmit the measured real-time torque signal to the real-time torque detection unit.

上述的阀门驱动器，其中，所述实时扭矩通过输出电流检测电路结合矢量变换方法获取，所述输出电流检测电路检测所述交流异步电动机的物理参数并传送至所述实时扭矩检测单元，所述实时扭矩检测单元计算获得所述实时扭矩并传送至所述扭矩修正单元，所述物理参数包括定子电阻、转子电阻、定转子互感、定转子漏感和空载电流。The above-mentioned valve driver, wherein the real-time torque is obtained through an output current detection circuit combined with a vector transformation method. The output current detection circuit detects the physical parameters of the AC asynchronous motor and transmits them to the real-time torque detection unit. The real-time torque detection unit The torque detection unit calculates and obtains the real-time torque and transmits it to the torque correction unit. The physical parameters include stator resistance, rotor resistance, stator and rotor mutual inductance, stator and rotor leakage inductance and no-load current.

上述的阀门驱动器，其中，所述交流异步电动机的三相交流信号经过坐标变换，转换为定子电流的转矩分量i_sT和定子电流的励磁分量i_sM，根据磁场定向不同分别采用转子磁场定向矢量控制、直接转矩控制、转差频率矢量控制、定子磁场定向矢量控制或气隙磁场定向矢量控制计算获得所述实时扭矩；The above valve driver, wherein the three-phase AC signal of the AC asynchronous motor is converted into the torque component i _sT of the stator current and the excitation component i _sM of the stator current through coordinate transformation, and the rotor magnetic field orientation vector is respectively used according to the different magnetic field orientations. Control, direct torque control, slip frequency vector control, stator magnetic field oriented vector control or air gap magnetic field oriented vector control calculation to obtain the real-time torque;

其中，所述转子磁场定向矢量控制，根据转子全磁链矢量方向进行所述磁场定向，并采用如下公式获得所述实时扭矩T_ei：
Among them, the rotor magnetic field orientation vector control performs the magnetic field orientation according to the direction of the rotor full flux vector, and uses the following formula to obtain the real-time torque _Tei :

其中，n_p为所述交流异步电动机的电机极对数，L_md为所述交流异步电动机的定转子同轴时一相绕组的等效互感，L_rd为所述交流异步电动机的转子一相绕组的等效自感，i_sT为所述交流异步电动机的定子电流的转矩分量，Ψ_r为所述交流异步电动机的转子磁链；Among them, n _p is the number of motor pole pairs of the AC asynchronous motor, and L _md is the AC asynchronous motor. The equivalent mutual inductance of one-phase winding when the stator and rotor of the motor are coaxial, L _rd is the equivalent self-inductance of the one-phase winding of the rotor of the AC asynchronous motor, i _sT is the torque component of the stator current of the AC asynchronous motor, Ψ _r is the rotor flux linkage of the AC asynchronous motor;

所述直接转矩控制采用如下公式获得所述实时扭矩T_ei：
The direct torque control uses the following formula to obtain the real-time torque _Tei :

其中，n_p为所述交流异步电动机的电机极对数，L_m为定转子互感，L_s为定子一相绕组的自感，L_r为转子一相绕组的自感，Ψ_s为定子磁链，Ψ_r为转子磁链，θ_sr为转矩角，是矢量Ψ_s和Ψ_r之间的夹角；Among them, n _p is the number of motor pole pairs of the AC asynchronous motor, L _m is the stator and rotor mutual inductance, L _s is the self-inductance of the stator one-phase winding, L _r is the self-inductance of the rotor one-phase winding, and Ψ _s is the stator magnetic field. chain, Ψ _r is the rotor flux linkage, θ _sr is the torque angle, which is the angle between the vectors Ψ _s and Ψ _r ;

所述转差频率矢量控制，根据转差频率矢量进行所述磁场定向，并采用如下公式获得所述实时扭矩T_ei：
The slip frequency vector control orients the magnetic field according to the slip frequency vector, and uses the following formula to obtain the real-time torque _Tei :

其中，n_p为所述交流异步电动机的电机极对数，T_r为转子电磁时间常数，L_rd为所述交流异步电动机的转子一相绕组的等效自感，Ψ_r为所述交流异步电动机的转子磁链，ω_s1为转差角频率；Where, n _p is the number of motor pole pairs of the AC asynchronous motor, T _r is the rotor electromagnetic time constant, L _rd is the equivalent self-inductance of the rotor one-phase winding of the AC asynchronous motor, Ψ _r is the AC asynchronous motor The rotor flux of the motor, ω _s1 is the slip angular frequency;

所述定子磁场定向矢量控制，根据定子磁链矢量方向进行所述磁场定向，并采用如下公式获得所述实时扭矩T_ei：The stator magnetic field orientation vector control performs the magnetic field orientation according to the direction of the stator flux vector, and uses the following formula to obtain the real-time torque _Tei :

T_ei＝n_pΨ_si_sT；T _ei =n _p Ψ _s i _sT ;

其中，n_p为所述交流异步电动机的电机极对数，Ψ_s为所述交流异步电动机的定子磁链，i_sT为定子电流的转矩分量；Where, n _p is the number of motor pole pairs of the AC asynchronous motor, Ψ _s is the stator flux linkage of the AC asynchronous motor, and i _sT is the torque component of the stator current;

所述气隙磁场定向矢量控制，根据扭矩气隙磁链矢量方向进行所述磁场定向，并采用如下公式获得所述实时扭矩T_ei：The air gap magnetic field orientation vector control performs the magnetic field orientation according to the direction of the torque air gap flux vector, and uses the following formula to obtain the real-time torque _Tei :

T_ei＝n_pΨ_mi_sT；T _ei =n _p Ψ _m i _sT ;

其中，n_p为所述交流异步电动机的电机极对数，Ψ_m为气隙磁链，i_sT为定子电流的转矩分量。Among them, n _p is the number of motor pole pairs of the AC asynchronous motor, Ψ _m is the air gap flux linkage, and i _sT is the torque component of the stator current.

上述的阀门驱动器，其中，所述核心控制器还包括：The above valve driver, wherein the core controller also includes:

速度控制单元，用于采用矢量控制方法或位置传感器的反馈信号获取阀门当前速度，通过PID控制算法对所述交流异步电动机的输出速度进行修正，并与所述扭矩修正单元叠加修正所述输出扭矩，以满足所述阀/门开启或关闭各阶段的速度要求。 The speed control unit is used to obtain the current speed of the valve using the vector control method or the feedback signal of the position sensor, correct the output speed of the AC asynchronous motor through the PID control algorithm, and superimpose it with the torque correction unit to correct the output torque. , to meet the speed requirements of each stage of opening or closing of the valve/door.

位置控制单元，用于根据所述位置传感器的反馈信号判断是否到达所述阀/门开启或关闭过程各阶段的位置节点，并根据判断结果进一步调整所述输出扭矩，以满足所述阀/门开启或关闭各阶段的控制逻辑和停止位置精度的要求。A position control unit, configured to determine whether the position node of each stage of the valve/door opening or closing process has been reached according to the feedback signal of the position sensor, and further adjust the output torque according to the judgment result to meet the requirements of the valve/door. Turn on or off the control logic of each stage and the requirements for stop position accuracy.

上述的阀门驱动器，其中，所述位置传感器为全行程传感器和/或点位式传感器，以实现全行程高精度位置控制或准确的起/终点位置控制。In the above-mentioned valve driver, the position sensor is a full-stroke sensor and/or a point sensor to achieve full-stroke high-precision position control or accurate start/end position control.

上述的阀门驱动器，其中，所述位置传感器安装在所述交流异步电动机的输出轴、减速传动箱的输出轴或驱动机构上，并与所述核心控制器连接。In the above valve driver, the position sensor is installed on the output shaft of the AC asynchronous motor, the output shaft of the reduction transmission box or the driving mechanism, and is connected to the core controller.

扭矩标定单元，与扭矩标定装置连接，通过所述扭矩标定装置对所述交流异步电动机进行扭矩标定，用于修正所述交流异步电动机的输出扭矩。A torque calibration unit is connected to a torque calibration device, and performs torque calibration on the AC asynchronous motor through the torque calibration device to correct the output torque of the AC asynchronous motor.

为了更好地实现上述目的，本发明还提供了一种电动阀/门，包括阀/门、传动装置、交流异步电动机和阀门驱动器，所述交流异步电动机通过所述传动装置与所述阀/门连接，所述阀门驱动器与所述交流异步电动机连接，并通过所述交流异步电动机控制所述阀/门的开闭，其中，所述阀门驱动器为上述的阀门驱动器，所述阀门驱动器与所述交流异步电动机为一体连接件；或所述阀门驱动器与所述交流异步电动机分体设置，并通过电缆或无线连接。In order to better achieve the above object, the present invention also provides an electric valve/gate, including a valve/gate, a transmission device, an AC asynchronous motor and a valve driver. The AC asynchronous motor communicates with the valve/gate through the transmission device. The valve driver is connected to the AC asynchronous motor, and controls the opening and closing of the valve/door through the AC asynchronous motor, wherein the valve driver is the above-mentioned valve driver, and the valve driver is connected to the AC asynchronous motor. The AC asynchronous motor is an integrated connection piece; or the valve driver and the AC asynchronous motor are arranged separately and connected through cables or wirelessly.

本发明的技术效果在于：The technical effects of the present invention are:

本发明能够根据开关阀/门全行程负载变化，通过优化速度和扭矩的匹配参数，实现了对普通交流异步电动机扭矩、速度和位置的精准控制，从而保证阀/门“关得严”，“停得准”和“打得开”；同时基于阀/门位移的启动阶段、加速阶段、匀速阶段、减速阶段、慢速逼近阶段、扭矩控制阶段和停止阶段，可实现分阶段组合控制，满足了阀/门快开快关、水锤消除、调节阀工况、故障应对的要求；通过短时“超频”(超速)和“超电流”(超扭矩)，较现有技术阀门驱动器可选用更小规格的交流异步电动机，进而可减小产品体积和重量并降低成本，改善管道***的动态特性；提高普通交流异步电动机负载平滑性控制的同时，还可降低对电网的冲击。This invention can realize precise control of the torque, speed and position of ordinary AC asynchronous motors according to the load changes of the switching valve/door throughout the stroke by optimizing the matching parameters of speed and torque, thereby ensuring that the valve/door is "closed tightly" and " "Stop accurately" and "Open"; at the same time, based on the starting phase, acceleration phase, uniform speed phase, deceleration phase, slow approach phase, torque control phase and stop phase of the valve/door displacement, phased combination control can be achieved to meet It meets the requirements of quick opening and closing of valves/doors, elimination of water hammer, regulating valve operating conditions, and fault response; through short-term "overfrequency" (overspeed) and "overcurrent" (overtorque), valve drivers can be selected compared to existing technologies. Smaller AC asynchronous motors can reduce product volume and weight, reduce costs, and improve the dynamic characteristics of the pipeline system; while improving the load smoothness control of ordinary AC asynchronous motors, it can also reduce the impact on the power grid.

以下结合附图和具体实施例对本发明进行详细描述，但不作为对本发明的限定。 The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the invention.

附图说明Description of the drawings

图1为本发明一实施例的电动阀/门结构示意图；Figure 1 is a schematic structural diagram of an electric valve/door according to an embodiment of the present invention;

图2为本发明另一实施例的电动阀/门结构示意图；Figure 2 is a schematic structural diagram of an electric valve/door according to another embodiment of the present invention;

图3为本发明一实施例的电动阀/门结构框图；Figure 3 is a structural block diagram of an electric valve/door according to an embodiment of the present invention;

图4为本发明一实施例的阀门驱动器结构框图；Figure 4 is a structural block diagram of a valve driver according to an embodiment of the present invention;

图5为本发明另一实施例的阀门驱动器结构框图；Figure 5 is a structural block diagram of a valve driver according to another embodiment of the present invention;

图6为本发明一实施例的定子电阻识别等效电路图；Figure 6 is an equivalent circuit diagram of stator resistance identification according to an embodiment of the present invention;

图7为本发明一实施例的电机T等效电路；Figure 7 is an equivalent circuit of motor T according to an embodiment of the present invention;

图8为本发明一实施例的电机反Γ等效电路；Figure 8 is a motor inverse Γ equivalent circuit according to an embodiment of the present invention;

图9为本发明一实施例的扭矩标定中设定扭矩与输出扭矩对应关系图。FIG. 9 is a diagram illustrating the corresponding relationship between the set torque and the output torque in torque calibration according to an embodiment of the present invention.

其中，附图标记
1阀/门
2传动装置
21减速传动箱
22驱动机构
3交流异步电动机
4阀门驱动器
41逻辑控制模块
42变频控制模块
43变频驱动模块
44核心控制器
45信号转换模块/IO模块
46检测和保护模块
47温度控制模块
48人机交互模块
5扭矩标定装置
6位置传感器
7扭矩传感器
8电源 Among them, reference signs
1 valve/door
2 transmission device
21 reduction transmission box
22 drive mechanism
3AC asynchronous motor
4 valve driver
41 logic control module
42 frequency conversion control module
43 variable frequency drive module
44 core controller
45 signal conversion module/IO module
46 detection and protection modules
47 temperature control module
48 human-computer interaction module
5Torque calibration device
6 position sensors
7Torque sensor
8 power supply

具体实施方式Detailed ways

下面结合附图对本发明的结构原理和工作原理作具体的描述：The structural principle and working principle of the present invention will be described in detail below in conjunction with the accompanying drawings:

参见图1-图3，图1为本发明一实施例的电动阀/门结构示意图，图2为本发明另一实施例的电动阀/门结构示意图，图3为本发明一实施例的电动阀/门结构框图。本发明的电动阀或电动门，包括阀/门1、传动装置2、交流异步电动机3和阀门驱动器4，所述交流异步电动机3通过所述传动装置2与所述阀/门1连接，所述阀门驱动器4分别与电源8和交流异步电动机3连接，并通过所述交流异步电动机3控制所述阀/门1的开闭，传动装置2可包括减速传动箱21和驱动机构22，减速传动箱21分别与交流异步电动机3的输出轴及驱动机构22的输入端连接，驱动机构22输出端与阀/门1连接，实现阀/门1的驱动。所述阀门驱动器4与所述交流异步电动机3可为一体连接件(参见图1)；或所述阀门驱动器4与所述交流异步电动机3分体设置，并通过电缆或无线连接(参见图2)，即可将机械驱动和电气驱动分离设置，以满足安装空间狭小、高温、辐射、高湿、强磁干扰等苛刻应用环境的要求。本发明电动阀/门其他部件的组成、结构、相互位置关系、连接关系及其工作原理等，均为较成熟的现有技术，故在此不做赘述，下面仅对本发明的阀门驱动器4及其工作原理予以详细说明。Referring to Figures 1-3, Figure 1 is a schematic structural diagram of an electric valve/door according to one embodiment of the present invention. Figure 2 is a schematic structural diagram of an electric valve/door according to another embodiment of the present invention. Figure 3 is a schematic diagram of an electric valve/door according to one embodiment of the present invention. Valve/gate structure block diagram. The electric valve or electric door of the present invention includes a valve/door 1, a transmission device 2, an AC asynchronous motor 3 and a valve driver 4. The AC asynchronous motor 3 is connected to the valve/door 1 through the transmission device 2, so The valve driver 4 is connected to the power supply 8 and the AC asynchronous motor 3 respectively, and controls the opening and closing of the valve/door 1 through the AC asynchronous motor 3. The transmission device 2 may include a reduction transmission box 21 and a driving mechanism 22. The reduction transmission The box 21 is respectively connected to the output shaft of the AC asynchronous motor 3 and the input end of the driving mechanism 22. The output end of the driving mechanism 22 is connected to the valve/gate 1 to realize the driving of the valve/gate 1. The valve driver 4 and the AC asynchronous motor 3 can be an integral connection piece (see Figure 1); or the valve driver 4 and the AC asynchronous motor 3 can be installed separately and connected through cables or wirelessly (see Figure 2 ), the mechanical drive and the electrical drive can be separated to meet the requirements of harsh application environments such as small installation space, high temperature, radiation, high humidity, strong magnetic interference, etc. The composition, structure, mutual positional relationship, connection relationship and working principle of other components of the electric valve/door of the present invention are relatively mature existing technologies, so they will not be described in detail here. Only the valve driver 4 and the valve driver of the present invention are described below. Its working principle is explained in detail.

参见图4及图5，图4为本发明一实施例的阀门驱动器4结构框图，图5为本发明另一实施例的阀门驱动器4结构框图。本发明的阀门驱动器4，包括壳体和安装在所述壳体内的核心控制器44和变频驱动模块43，所述变频驱动模块43分别与所述核心控制器44和交流异步电动机3连接，所述核心控制器44通过实时调整所述变频驱动模块43的输出扭矩或输出扭矩限值，以满足阀/门1响应速度和控制精度要求。核心控制器44作为信号判断和逻辑控制核心，优选以单片机和DSP，具体可配备逻辑处理器、IO***、内部总线等；变频驱动模块43作为矢量变频控制的基础模块，可配备数字信号处理器、电源转换电路、功率驱动电路等。如图4及图5所示，该阀门驱动器4还可包括无线通讯模块、检测和保护模块46、IO模块、人机交互模块48、现场总线模块、测量转换模块、温度控制模块47、供电电池和电缆连插件等，无线通讯模块用于与遥控器、外部便携式设备的连接和信息交换，可包括红外收发电路、蓝牙通讯电路等，及红外通讯、蓝牙通讯、串行总线通讯、以太网通讯等接口，可满足阀门驱动器4与扭矩标定装置5、上位机、云服务器等的有线或无线连接；检测和保护模块46用于驱动交流异步电动机3时的整流、滤波、逆变等电能变换，可包括整流电路、直流电路、逆变电路、检测电路等；IO模块用于输入输出信号的连接、转换和保护，可包括IO供电电路、数字量输入电路、数字量输出电路、模拟量输入电路、模拟量输出电路等；人机交互模块48用于参数和指令录入及运行状态、报警信息的显示，可包括显示屏和按钮面板等；现场总线模块用于与上位机、外部监控设备的信息交换，可包括Modbus总线、CAN总线等；测量转换模块用于将编码器采集阀/门位移信息的正弦电压信号、TTL矩形波信号、HTL矩形波信号转换为集电极开路信号并反馈给逻辑控制模块41，可包括信号转换电路、高速计数电路等；温度控制模块47用于整机温度控制，可包括温度传感器、冷却风扇、铝制散热片等。该阀门驱动器4可用于开关阀/门1所有动作控制、信息显示、报警和保护。Referring to Figures 4 and 5, Figure 4 is a structural block diagram of the valve driver 4 according to one embodiment of the present invention, and Figure 5 is a structural block diagram of the valve driver 4 according to another embodiment of the present invention. The valve driver 4 of the present invention includes a housing, a core controller 44 and a variable frequency drive module 43 installed in the housing. The variable frequency drive module 43 is connected to the core controller 44 and the AC asynchronous motor 3 respectively, so The core controller 44 adjusts the output torque or output torque limit of the variable frequency drive module 43 in real time to meet the response speed and control accuracy requirements of the valve/gate 1 . The core controller 44 serves as the signal judgment and logic control core, preferably a microcontroller and a DSP, and can be equipped with a logic processor, IO system, internal bus, etc.; the variable frequency drive module 43 serves as the basic module of vector frequency conversion control and can be equipped with a digital signal processor , power conversion circuit, power drive circuit, etc. As shown in Figures 4 and 5, the valve driver 4 can also include a wireless communication module, a detection and protection module 46, an IO module, a human-computer interaction module 48, a field bus module, a measurement conversion module, a temperature control module 47, and a power supply battery. and cable plug-ins, etc. The wireless communication module is used for connection and information exchange with remote controls and external portable devices. It can include infrared transceiver circuits, Bluetooth communication circuits, etc., as well as infrared communication, Bluetooth communication, serial bus communication, and Ethernet communication. Wait for the interface, you can Meets the wired or wireless connection between the valve driver 4 and the torque calibration device 5, host computer, cloud server, etc.; the detection and protection module 46 is used for rectification, filtering, inversion and other electric energy conversion when driving the AC asynchronous motor 3, and may include a rectification circuit , DC circuit, inverter circuit, detection circuit, etc.; IO module is used for connection, conversion and protection of input and output signals, and can include IO power supply circuit, digital input circuit, digital output circuit, analog input circuit, analog output Circuits, etc.; the human-computer interaction module 48 is used for inputting parameters and instructions and displaying operating status and alarm information, and can include a display screen and button panel, etc.; the fieldbus module is used for information exchange with the host computer and external monitoring equipment, and can include Modbus bus, CAN bus, etc.; the measurement conversion module is used to convert the sinusoidal voltage signal, TTL rectangular wave signal, HTL rectangular wave signal collected by the encoder from the valve/door displacement information into an open collector signal and feed it back to the logic control module 41, which can It includes a signal conversion circuit, a high-speed counting circuit, etc.; the temperature control module 47 is used to control the temperature of the entire machine, and may include a temperature sensor, a cooling fan, an aluminum heat sink, etc. The valve driver 4 can be used for all action control, information display, alarm and protection of the switch valve/door 1.

本实施例的所述核心控制器44包括：逻辑控制单元，用于根据阀/门1执行开启和关闭过程各阶段的需求设定相应的设定扭矩；将所述设定扭矩发送至所述变频驱动模块43，所述变频驱动模块43以所述设定扭矩为输出扭矩或输出扭矩限值驱动所述交流异步电动机3执行相应的阀/门1开启或关闭动作；实时扭矩检测单元，用于获取所述交流异步电动机3或阀/门1运行的实时扭矩；以及扭矩修正单元，根据所述实时扭矩和设定扭矩，以所述设定扭矩为输入，以所述实时扭矩为反馈，采用PID控制算法对所述输出扭矩进行修正，并将修正后的输出扭矩发送至变频驱动模块43，以根据所述实时扭矩调节所述输出扭矩的响应速度和控制精度。The core controller 44 of this embodiment includes: a logic control unit for setting the corresponding set torque according to the requirements of each stage of the opening and closing process of the valve/door 1; sending the set torque to the The variable frequency drive module 43 uses the set torque as the output torque or the output torque limit to drive the AC asynchronous motor 3 to perform the corresponding opening or closing action of the valve/door 1; the real-time torque detection unit uses To obtain the real-time torque of the operation of the AC asynchronous motor 3 or the valve/gate 1; and a torque correction unit, based on the real-time torque and the set torque, using the set torque as input and the real-time torque as feedback, The PID control algorithm is used to correct the output torque, and the corrected output torque is sent to the variable frequency drive module 43 to adjust the response speed and control accuracy of the output torque according to the real-time torque.

在图4所示的实施例中，该核心控制器44可分为逻辑控制模块41和变频控制模块42设置，该逻辑控制模块41通过该变频控制模块42与变频驱动模块43连接，上述的逻辑控制单元、实时扭矩检测单元以及扭矩修正单元等各单元均可集成在该逻辑控制模块41或变频控制模块42内；逻辑控制模块41可用于整机逻辑控制，可以存储并执行控制程序，该逻辑控制模块41可采用单片机、DSP、PLC等，可包括程序存储器、数据存储器、中央处理器(CPU)、IO接口、内部总线等。变频控制模块42可由单片机或DSP芯片和***电路搭建，用于电机的特性参数和扭矩矢量控制算法生成，在逆变电路的配合下驱动交流异步电动机3，可包括程序存储器、数据存储器、中央处理器(CPU)、 IO接口和内部总线等。In the embodiment shown in Figure 4, the core controller 44 can be divided into a logic control module 41 and a frequency conversion control module 42. The logic control module 41 is connected to the frequency conversion drive module 43 through the frequency conversion control module 42. The above-mentioned logic Each unit such as the control unit, real-time torque detection unit, and torque correction unit can be integrated in the logic control module 41 or the frequency conversion control module 42; the logic control module 41 can be used for logic control of the entire machine, and can store and execute control programs. The logic The control module 41 can use a microcontroller, DSP, PLC, etc., and can include a program memory, a data memory, a central processing unit (CPU), an IO interface, an internal bus, etc. The frequency conversion control module 42 can be built by a single-chip microcomputer or a DSP chip and peripheral circuits. It is used to generate the motor's characteristic parameters and torque vector control algorithm, and drives the AC asynchronous motor 3 with the cooperation of the inverter circuit. It can include a program memory, a data memory, and a central processing unit. processor (CPU), IO interface and internal bus, etc.

在图5的实施例中，该逻辑控制模块41和变频控制模块42可一体集成在核心控制器44内，该核心控制器44与变频驱动模块43也可集成为一体，即该阀门驱动器4的逻辑控制、变频控制和驱动输出功能可以分离设置在不同的模块上，也可以合并集成在一个模块上，本发明对该阀门驱动器4内部的具体功能模块的结构、组成及集成方式不做限制，只要能实现实时调整变频驱动模块43的输出扭矩或输出扭矩限值，满足阀/门1响应速度和控制精度要求的功能即可。In the embodiment of FIG. 5 , the logic control module 41 and the variable frequency control module 42 can be integrated into the core controller 44 , and the core controller 44 and the variable frequency drive module 43 can also be integrated into one, that is, the valve driver 4 The logic control, frequency conversion control and drive output functions can be separately arranged on different modules, or can be combined and integrated into one module. The present invention does not limit the structure, composition and integration method of the specific functional modules inside the valve driver 4. As long as the function of real-time adjustment of the output torque or output torque limit of the variable frequency drive module 43 can be realized to meet the response speed and control accuracy requirements of the valve/gate 1.

图5所示的实施例中，所述实时扭矩可通过扭矩传感器7直接获取，所述扭矩传感器7可安装在所述交流异步电动机3的输出轴、减速传动箱21的输出轴或驱动机构22的输入轴或输出轴上，并与所述实时扭矩检测单元连接，将其测得的实时扭矩信号传送至所述实时扭矩检测单元，以供扭矩修正。In the embodiment shown in FIG. 5 , the real-time torque can be directly obtained through a torque sensor 7 , which can be installed on the output shaft of the AC asynchronous motor 3 , the output shaft of the reduction transmission box 21 or the driving mechanism 22 The input shaft or the output shaft is connected to the real-time torque detection unit, and the real-time torque signal measured by it is transmitted to the real-time torque detection unit for torque correction.

图4所示的实施例中，所述实时扭矩优选通过输出电流检测电路结合矢量变换方法获取，所述输出电流检测电路检测所述交流异步电动机3的物理参数并传送至所述实时扭矩检测单元，所述实时扭矩检测单元通过计算获得所述实时扭矩并传送至所述扭矩修正单元，所述物理参数可包括定子电阻、转子电阻、定转子互感、定转子漏感和空载电流。可将所述交流异步电动机3的三相交流信号，经过坐标变换转换为定子电流的转矩分量i_sT和定子电流的励磁分量i_sM，并根据磁场定向不同分别采用转子磁场定向矢量控制、直接转矩控制、转差频率矢量控制、定子磁场定向矢量控制或气隙磁场定向矢量控制计算获得所述实时扭矩。也即以矢量扭矩控制为输出方法，以扭矩检测电路(本实施例优选为输出电流检测电路)的检测结果为反馈信号，通过PID闭环调整控制输出扭矩，以使驱动阀/门1实际运行的输出扭矩在设定扭矩即期望值的范围内运行。In the embodiment shown in Figure 4, the real-time torque is preferably obtained through an output current detection circuit combined with a vector transformation method. The output current detection circuit detects the physical parameters of the AC asynchronous motor 3 and transmits them to the real-time torque detection unit. , the real-time torque detection unit obtains the real-time torque through calculation and transmits it to the torque correction unit. The physical parameters may include stator resistance, rotor resistance, stator and rotor mutual inductance, stator and rotor leakage inductance and no-load current. The three-phase AC signal of the AC asynchronous motor 3 can be converted into the torque component i _sT of the stator current and the excitation component i _sM of the stator current through coordinate transformation, and the rotor magnetic field oriented vector control and direct control are respectively adopted according to the different magnetic field orientations. The real-time torque is calculated by torque control, slip frequency vector control, stator magnetic field oriented vector control or air gap magnetic field oriented vector control. That is to say, vector torque control is used as the output method, the detection result of the torque detection circuit (in this embodiment, preferably the output current detection circuit) is used as the feedback signal, and the output torque is adjusted and controlled through PID closed loop, so that the drive valve/door 1 actually operates. The output torque operates within the range of the set torque, which is the expected value.

为了更精准地实现矢量控制，本发明还可通过该阀门驱动器4对交流异步电动机3的物理参数先行进行辨识，首先对交流异步电动机3的定子电阻、转子电阻、定转子互感、定转子漏感等参数进行采集，以确保扭矩矢量控制中基本参数的准确。即该核心控制器44还可包括物理参数辨识单元，用于获取所述交流异步电动机3的物理参数，以对交流异步电动机3进行更加准确的扭矩矢量控制。可对交流异步电动机3输入交、直流激励信号并实时监测定子电流反馈，根据电压、电流的数值和相位关系计算获得上述各相关参数。空载电流用于估算交流异步电动机3运行过程中的扭矩消耗(如摩擦、通风、铁芯损耗等)并对其输出扭矩加以补偿，该空载电流优选为电机额定电流的20％～50％。In order to realize vector control more accurately, the present invention can also use the valve driver 4 to identify the physical parameters of the AC asynchronous motor 3 in advance. First, the stator resistance, rotor resistance, stator and rotor mutual inductance, and stator and rotor leakage inductance of the AC asynchronous motor 3 are Collect other parameters to ensure the accuracy of the basic parameters in torque vector control. That is, the core controller 44 may also include a physical parameter identification unit for obtaining the physical parameters of the AC asynchronous motor 3 to perform more accurate torque vector control on the AC asynchronous motor 3 . It can input AC and DC excitation signals to the AC asynchronous motor 3 and monitor the stator current feedback in real time, and calculate and obtain the above-mentioned correlations based on the values and phase relationships of voltage and current. parameter. The no-load current is used to estimate the torque consumption (such as friction, ventilation, core loss, etc.) of the AC asynchronous motor 3 during operation and to compensate its output torque. The no-load current is preferably 20% to 50% of the rated current of the motor. .

本实施例采用核心控制器44中输出电流检测电路进行参数检测，采集实时扭矩(可由转子等效自感、转子等效互感、转子磁链、定子电流转矩分量等值计算获得)作为反馈量，并使用PID控制原理对输出扭矩进行闭环控制和修正，最终实现扭矩矢量控制，确保阀/门1运行过程中的扭矩响应速度和控制精度。本实施例的定子电阻可采用如下方式获取：This embodiment uses the output current detection circuit in the core controller 44 for parameter detection, and collects real-time torque (which can be calculated from the equivalent self-inductance of the rotor, the equivalent mutual inductance of the rotor, the rotor flux linkage, the stator current torque component, etc.) as the feedback quantity. , and uses the PID control principle to perform closed-loop control and correction of the output torque, and finally realizes torque vector control to ensure the torque response speed and control accuracy during the operation of the valve/gate 1. The stator resistance of this embodiment can be obtained in the following way:

控制逆变电源输出单相直流电压，此时可以将该情况下的电机电路图简化为如图6所示：
Control the inverter power supply to output a single-phase DC voltage. At this time, the motor circuit diagram in this case can be simplified as shown in Figure 6:

其中，V`_dc＝直流电压，＝定子电流，R₁＝定子电阻。Where, V` _dc = DC voltage, = stator current, R ₁ = stator resistance.

由于开关管压降的影响，实际施加在定子的电压会产生一定的误差。为了消除误差可采用施加多次不同的电压信号，取定子电压与定子电流的斜率作为定子电阻。
Due to the influence of the voltage drop of the switching tube, the actual voltage applied to the stator will produce a certain error. In order to eliminate the error, multiple different voltage signals can be applied, and the slope of the stator voltage and stator current is taken as the stator resistance.

本实施例的转子电阻、定转子互感和定转子漏感可采用如下方式获取：The rotor resistance, stator and rotor mutual inductance, and stator and rotor leakage inductance in this embodiment can be obtained in the following ways:

交流异步电动机3在单相正弦信号激励下的电磁现象与三项正弦信号的激励下的电磁现象基本相同，通过此方法来识别，同时此时的电机转矩为零，电机保持静止，此时的电机等效电路可用三相等效电路来代替。The electromagnetic phenomena of the AC asynchronous motor 3 under the excitation of a single-phase sinusoidal signal are basically the same as those under the excitation of a three-phase sinusoidal signal. They can be identified by this method. At the same time, the motor torque is zero at this time and the motor remains stationary. The motor equivalent circuit can be replaced by a three-phase equivalent circuit.

交流异步电动机3的定子转子的矢量方程为：
The vector equation of the stator and rotor of AC asynchronous motor 3 is:

其中，p为微分算子，R₁为定子电阻，R_r为转子电阻，L_sσ为定子漏感，L_rσ为转子漏感，L_m为定转子互感，ω为转子速度，笼型转子 in, p is the differential operator, R ₁ is the stator resistance, R _r is the rotor resistance, L _sσ is the stator leakage inductance, L _rσ is the rotor leakage inductance, L _m is the stator and rotor mutual inductance, ω is the rotor speed, cage rotor

将输出的W相断开，U相和V相按照H桥式正弦电压调质信号控制逆变器的通断，从而产生正弦电压激励信号，设U相、V相的正弦电压为则交流异步电动机3中的相电压和相电流满足如下关系：

The output W phase is disconnected, and the U phase and V phase control the on and off of the inverter according to the H-bridge sinusoidal voltage quenching and tempering signal, thereby generating a sinusoidal voltage excitation signal. Suppose the sinusoidal voltages of the U phase and V phase are Then the phase voltage and phase current in the AC asynchronous motor 3 satisfy the following relationship:

其中，V_Un，V_Vn，V_wn分别为U相V相W相对中点电压。Among them, V _Un , V _Vn , and V _wn are the relative midpoint voltages of U-phase, V-phase, and W respectively.

此时电机转矩为0，电机此时的T型等效电路图如7所示，一般情况下定子漏感与转子漏感相同，即L_sσ＝L_rσ。图8为本发明一实施例的电机反Γ等效电路图，是对T进行等效变化后的电路，变化后得电路参数T型等效电路参数件的关系为：

At this time, the motor torque is 0, and the T-shaped equivalent circuit diagram of the motor at this time is shown in 7. Generally, the stator leakage inductance is the same as the rotor leakage inductance, that is, L _sσ = L _rσ . Figure 8 is an inverse Γ equivalent circuit diagram of a motor according to an embodiment of the present invention. It is a circuit after equivalent changes are made to T. After the changes, the relationship between the circuit parameters and T-type equivalent circuit parameters is:

由图可得：

It can be obtained from the figure:

上式中是电压初始相位，是电流初始相位。In the above formula is the initial phase of the voltage, is the initial phase of the current.

由式(1-6)～式(1-9)可以得到：
From formula (1-6) to formula (1-9), we can get:

通过反Γ等效电路可以得出阻抗的表达式如下：
The expression of impedance can be obtained through the inverse Γ equivalent circuit as follows:

对交流异步电动机3分别施加频率为f₁和f₂的正弦电压信号进行电机单相试验，检测定子电流分子到的等效阻抗，并设R`(f)＝R-R₁，由式(1-12) 可得到反Γ等效电路下电机参数的计算公式

Apply sinusoidal voltage signals with frequencies f ₁ and f ₂ to the AC asynchronous motor 3 respectively to conduct a single-phase motor test to detect the equivalent impedance of the stator current molecules, and assume R`(f)=RR ₁ , from formula (1- 12) The calculation formula of the motor parameters under the inverse Γ equivalent circuit can be obtained

根据T型等效电路和反Γ等效电路参数换算的关系式(1-5)，可以分别得到电机转子电阻、定子转子互感、定子转子漏感的计算公式如下：

L_sσ＝L_rσ＝L`_sσ+L`_m-L_m (1-18)According to the relationship equation (1-5) for parameter conversion of the T-type equivalent circuit and the inverse Γ equivalent circuit, the calculation formulas for the motor rotor resistance, stator-rotor mutual inductance, and stator-rotor leakage inductance can be obtained respectively as follows:

L _sσ ＝L _rσ ＝L` _sσ +L` _m -L _m (1-18)

本发明一实施例中，优选采用转子磁场定向矢量控制，根据转子全磁链矢量方向进行所述磁场定向，并用如下公式获得所述实时扭矩T_ei：
In one embodiment of the present invention, the rotor magnetic field orientation vector control is preferably adopted, the magnetic field orientation is performed according to the direction of the rotor's full flux linkage vector, and the real-time torque _Te is obtained using the following formula:

其中，n_p为所述交流异步电动机3的电机极对数，L_md为所述交流异步电动机3的定转子同轴时一相绕组的等效互感，L_rd为所述交流异步电动机3的转子一相绕组的等效自感，i_sT为所述交流异步电动机3的定子电流的转矩分量，Ψ_r为所述交流异步电动机3的转子磁链。Where, n _p is the number of motor pole pairs of the AC asynchronous motor 3 , L _md is the equivalent mutual inductance of one phase winding when the stator and rotor of the AC asynchronous motor 3 are coaxial, and L _rd is the The equivalent self-inductance of the rotor one-phase winding, i _sT is the torque component of the stator current of the AC asynchronous motor 3 , and Ψ _r is the rotor flux linkage of the AC asynchronous motor 3 .

其控制原理如下：

Its control principle is as follows:

其中，Ψ_rM为转子全磁链M轴分量；Ψ_rT为转子全磁链T轴分量；i_rM为转子电流M轴分量；i_rT为转子电流T轴分量；n_p为电机极对数；为转子一相绕组的等效自感；为定转子同轴时一相绕组的等效互感；i_sT为定子电流的转矩分量；Ψ_r为转子磁链；为转子电磁时间常数；p为微分算子；i_sM为定子电流的励磁分量。Among them, Ψ _rM is the M-axis component of the rotor's full flux linkage; Ψ _rT is the T-axis component of the rotor's full flux linkage; i _rM is the M-axis component of the rotor current; i _rT is the T-axis component of the rotor current; n _p is the number of pole pairs of the motor; is the equivalent self-inductance of one phase winding of the rotor; is the equivalent mutual inductance of one phase winding when the stator and rotor are coaxial; i _sT is the torque component of the stator current; Ψ _r is the rotor flux linkage; is the rotor electromagnetic time constant; p is the differential operator; i _sM is the excitation component of the stator current.

本发明另一实施例中，还可采用直接转矩控制，并用如下公式获得所述实时扭矩T_ei：
In another embodiment of the present invention, direct torque control can also be used, and the real-time torque _Te is obtained using the following formula:

其中，n_p为所述交流异步电动机3的电机极对数，L_m为定转子互感，L_s为定子一相绕组的自感，L_r为转子一相绕组的自感，Ψ_s为定子磁链，Ψ_r为转子磁链，θ_sr为转矩角，是矢量Ψ_s和Ψ_r之间的夹角。Among them, n _p is the number of motor pole pairs of the AC asynchronous motor 3, L _m is the stator and rotor mutual inductance, L _s is the self-inductance of the stator one-phase winding, L _r is the self-inductance of the rotor one-phase winding, Ψ _s is the stator Flux linkage, Ψ _r is the rotor flux linkage, θ _sr is the torque angle, which is the angle between the vectors Ψ _s and Ψ _r .

该直接转矩控制依据定子轴系的数学模型，并使用空间矢量分析方法实现电机控制，其控制原理如下：This direct torque control is based on the mathematical model of the stator shaft system and uses the space vector analysis method to achieve motor control. Its control principle is as follows:

定子磁链方程：
Stator flux linkage equation:

其中，u_s为定子轴系电压矢量。Among them, u _s is the stator shaft system voltage vector.

忽略定子电阻电压降R_si_s，有：
Ψ≈∫u_sdt (2-18)Neglecting the stator resistance voltage drop R _s i _s , we have:
Ψ≈∫u _s dt (2-18)

转矩方程为：
The torque equation is:

θ_sr为转矩角，是矢量Ψ_s和Ψ_r之间的夹角。θ _sr is the torque angle, which is the angle between the vectors Ψ _s and Ψ _r .

本发明第三实施例中，可采用转差频率矢量控制，根据转差频率矢量进行所述磁场定向，并用如下公式获得所述实时扭矩T_ei：
In the third embodiment of the present invention, slip frequency vector control can be used to orient the magnetic field according to the slip frequency vector, and obtain the real-time torque _Tei using the following formula:

其中，n_p为所述交流异步电动机3的电机极对数，T_r为转子电磁时间常数，L_rd为所述交流异步电动机3的转子一相绕组的等效自感，Ψ_r为转子磁链，ω_s1为转差角频率。Among them, n _p is the number of motor pole pairs of the AC asynchronous motor 3, T _r is the rotor electromagnetic time constant, L _rd is the equivalent self-inductance of the rotor one-phase winding of the AC asynchronous motor 3, Ψ _r is the rotor magnetic chain, ω _s1 is the slip angular frequency.

转差频率矢量控制可在转子磁场定向量控制基础上进行，其控制原理如下：

Slip frequency vector control can be carried out based on the rotor magnetic field directional vector control. Its control principle is as follows:

其中，ω_s1为转差角频率。Among them, ω _s1 is the slip angular frequency.

本发明第四实施例中，采用定子磁场定向矢量控制，根据定子磁链矢量方向进行所述磁场定向，并用如下公式获得所述实时扭矩T_ei：
T_ei＝n_pΨ_si_sT；In the fourth embodiment of the present invention, stator magnetic field orientation vector control is adopted, the magnetic field orientation is performed according to the direction of the stator flux vector, and the real-time torque _Te is obtained using the following formula:
T _ei =n _p Ψ _s i _sT ;

其中，n_p为所述交流异步电动机3的电机极对数，Ψ_s为所述交流异步电动机3的定子磁链，i_sT为所述交流异步电动机3的定子电流的转矩分量。Where, n _p is the number of motor pole pairs of the AC asynchronous motor 3 , Ψ _s is the stator flux linkage of the AC asynchronous motor 3 , and _isT is the torque component of the stator current of the AC asynchronous motor 3 .

本实施例按照定子磁链矢量方向进行磁场定向，其控制原理如下：

T_ei＝n_pΨ_si_sT (2-7)
In this embodiment, the magnetic field is oriented according to the direction of the stator flux vector. The control principle is as follows:

T _ei ＝n _p Ψ _s i _sT (2-7)

其中，Ψ_s为定子磁链；Ψ_sM为定子全磁链M轴分量；Ψ_sT为定子全磁链T轴分量；为漏磁系数；由式(2-8)可知，定子磁链Ψ_s是i_sT和i_sM 的函数，彼此间存在耦合，需增加解耦控制器，其控制原理如下：

Among them, Ψ _s is the stator flux; Ψ _sM is the M-axis component of the stator's full flux; Ψ _sT is the T-axis component of the stator's full flux; is the magnetic flux leakage coefficient; from formula (2-8), it can be seen that the stator flux linkage Ψ _s is i _sT and i _sM The functions of are coupled to each other, and a decoupling controller needs to be added. The control principle is as follows:

其中，为定子电流励磁分量给定；为定子磁链给定；i_MT为解耦控制信号；将式(2-9)代入到式(2-8)的第一式中可得：
in, is the stator current excitation component given; is the stator flux linkage given; i _MT is the decoupling control signal; substituting equation (2-9) into the first equation of equation (2-8), we can get:

为借助i_MT实现Ψ_s的解耦控制，使：
(1+σT_rp)L_sdi_MT-σL_sdT_rω_s1i_sT＝0 (2-12)In order to realize the decoupled control of Ψ _s with the help of i _MT , make:
(1+σT _r p)L _sd i _MT -σL _sd T _r ω _s1 i _sT =0 (2-12)

经变换可得：
After transformation, we can get:

式(2-13)是解耦器模块算法，可通过定子侧检测到的电压、电流直接计算定子磁链矢量Ψ_s，从而实现解耦。Equation (2-13) is the decoupler module algorithm, which can directly calculate the stator flux vector Ψ _s through the voltage and current detected on the stator side, thereby achieving decoupling.

本发明第五实施例中，采用气隙磁场定向矢量控制，根据扭矩气隙磁链矢量方向进行所述磁场定向，并用如下公式获得所述实时扭矩T_ei：
T_ei＝n_pΨ_mi_sT；In the fifth embodiment of the present invention, air gap magnetic field orientation vector control is adopted, the magnetic field orientation is performed according to the direction of the torque air gap flux vector, and the real-time torque _Te is obtained using the following formula:
T _ei =n _p Ψ _m i _sT ;

其中，n_p为所述交流异步电动机3的电机极对数，Ψ_m为气隙磁链，i_sT为定子电流的转矩分量。Among them, n _p is the number of motor pole pairs of the AC asynchronous motor 3, Ψ _m is the air gap flux linkage, and _isT is the torque component of the stator current.

本实施例按照气隙磁链矢量方向进行磁场定向，其控制原理如下：

T_ei＝n_pΨ_mi_sT (2-15)
In this embodiment, the magnetic field is oriented according to the direction of the air gap flux linkage vector. The control principle is as follows:

T _ei ＝n _p Ψ _m i _sT (2-15)

上述矢量控制方法中决定扭矩控制精度的各物理参数会随着长时间运行而发生改变，且上述控制方法中电机输出扭矩的公式理论上也忽略了***机械摩擦阻力等因素，因此本发明的一实施例中，所述核心控制器44还可包括：The physical parameters that determine the torque control accuracy in the above vector control method will change with long-term operation, and the formula of the motor output torque in the above control method theoretically ignores the system mechanics. Friction resistance and other factors, therefore in an embodiment of the present invention, the core controller 44 may also include:

扭矩标定单元，与扭矩标定装置5连接，通过所述扭矩标定装置5对所述交流异步电动机3进行扭矩标定，用于修正所述交流异步电动机3的输出扭矩。即本发明可定期采用扭矩的标定以消除上述因素的不利影响，实现***扭矩控制精度的长期稳定。可将交流异步电动机3与阀门驱动器4连接，正确设置***基本参数并执行参数辨识后，在所述交流异步电动机额定扭矩的10％～200％范围内选择均匀分布得不少于10个扭矩值作为检测点，阀门驱动器4按照标定逻辑逐点改变所述交流异步电动机3的设定扭矩并驱动所述交流异步电动机3加载，载荷覆盖0至交流异步电动机3的最大输出扭矩；然后将扭矩标定装置5安装固定在交流异步电动机3的输出轴上，并通过有线信号电缆或无线通讯模块与阀门驱动器4连接，采用扭矩标定装置5以扭矩标定方法，检测所述交流异步电动机3对应每点所述设定扭矩的输出扭矩并记录；重复以上每检测点加载过程不少于3次并取其算数平均值作为此检测点的输出扭矩检测结果；以及由阀门驱动器4统计和分析以上测试数据，比较设定扭矩与相应的输出扭矩偏差并生成成套统计数据，根据统计数据生成各级所述设定扭矩与相应的输出扭矩的对应关系图表显示或输出(显示结果可为图表及曲线，及必要的提示信息以供确认)，用于修正所述交流异步电动机3的输出扭矩。相关对应图表经确认后，可由阀门驱动器4执行修正，以获得更准确的扭矩控制阶段的输出扭矩。本实施例仅以设定扭矩与相应的输出扭矩对比为例予以说明，具体可参见下表，下表是以额定功率0.55kW，额定转速1450rpm，额定扭矩3.6Nm的交流异步电动机3为例，其输出扭矩(即相应检测点的堵转扭矩)和设定扭矩关系。其中，控制和修正交流异步电动机3的低速和堵转扭矩，可使阀/门1关闭过程获得准确的密封比压，交流异步电动机3的堵转扭矩误差优选控制在额定扭矩的±10％(优选为±4％)范围内，以稳定有效地控制阀/门1关闭的密封比压。同时，还可将统计表中离散的检测点数据整合成描述设定扭矩与相应的输出扭矩关系的分段函数(如图9所示，为相对连续，首位相接，斜率不同的折线线段)，供扭矩控制过程查询和使用。The torque calibration unit is connected to the torque calibration device 5 and performs torque calibration on the AC asynchronous motor 3 through the torque calibration device 5 for correcting the output torque of the AC asynchronous motor 3 . That is to say, the present invention can regularly adopt torque calibration to eliminate the adverse effects of the above factors and achieve long-term stability of the system torque control accuracy. The AC asynchronous motor 3 can be connected to the valve driver 4. After correctly setting the basic parameters of the system and performing parameter identification, select no less than 10 torque values evenly distributed within the range of 10% to 200% of the rated torque of the AC asynchronous motor. As a detection point, the valve driver 4 changes the set torque of the AC asynchronous motor 3 point by point according to the calibration logic and drives the AC asynchronous motor 3 to load, and the load covers 0 to the maximum output torque of the AC asynchronous motor 3; then the torque is calibrated The device 5 is installed and fixed on the output shaft of the AC asynchronous motor 3, and is connected to the valve driver 4 through a wired signal cable or a wireless communication module. The torque calibration device 5 is used to detect the corresponding points of each point of the AC asynchronous motor 3 using the torque calibration method. The output torque of the set torque is recorded and recorded; the above loading process of each detection point is repeated no less than 3 times and the arithmetic average is taken as the output torque detection result of this detection point; and the above test data is counted and analyzed by the valve driver 4, Compare the set torque and the corresponding output torque deviation and generate a set of statistical data. Based on the statistical data, generate a chart display or output of the corresponding relationship between the set torque and the corresponding output torque at each level (the display results can be charts and curves, and necessary prompt information for confirmation), used to correct the output torque of the AC asynchronous motor 3. After the relevant corresponding chart is confirmed, the valve driver 4 can perform corrections to obtain a more accurate output torque in the torque control stage. This embodiment only takes the comparison between the set torque and the corresponding output torque as an example. For details, please refer to the following table. The following table takes an AC asynchronous motor 3 with a rated power of 0.55kW, a rated speed of 1450rpm, and a rated torque of 3.6Nm as an example. The relationship between its output torque (i.e. the locked-rotor torque at the corresponding detection point) and the set torque. Among them, controlling and correcting the low speed and locked-rotor torque of the AC asynchronous motor 3 can achieve accurate sealing pressure during the closing process of the valve/door 1. The locked-rotor torque error of the AC asynchronous motor 3 is preferably controlled at ±10% of the rated torque ( Preferably within the range of ±4%) to stably and effectively control the sealing specific pressure of the valve/door 1 to close. At the same time, the discrete detection point data in the statistical table can also be integrated into a piecewise function describing the relationship between the set torque and the corresponding output torque (as shown in Figure 9, which is a relatively continuous, first-order polyline segment with different slopes) , for query and use in the torque control process.

表1设定扭矩与相应的输出扭矩对比表

Table 1 Comparison table of set torque and corresponding output torque

以上数据以均匀分布的足够密集的特征点描述了交流异步电动机3的设定扭矩和输出扭矩的关系。本实施例中，当设定扭矩在额定扭矩范围内时(也是扭矩控制阶段需使用的扭矩范围)，设定扭矩和输出扭矩的误差在±10％(优选为±4％)范围内，有良好的线性关系；当设定扭矩超过额定扭矩时，误差增大。设定扭矩和输出扭矩的关系可以用分段直线方程的方式表示，并用于修正输出扭矩。因对应表中的测试结果是离散数据，实际使用中测试点间数据以相邻两点间线段方程进行***和补充。如当设定扭矩在0.5至1.0Nm之间时，根据图9中最左侧线段的起点(0.5，0.47)和终点(1.0，0.88)可得其关系曲线方程为：
y＝0.82x+0.06；The above data describes the relationship between the set torque and the output torque of the AC asynchronous motor 3 with evenly distributed and sufficiently dense feature points. In this embodiment, when the set torque is within the rated torque range (which is also the torque range to be used in the torque control stage), the error between the set torque and the output torque is within the range of ±10% (preferably ±4%), and there is Good linear relationship; when the set torque exceeds the rated torque, the error increases. The relationship between the set torque and the output torque can be expressed in the form of a piecewise straight line equation and used to correct the output torque. Since the test results in the correspondence table are discrete data, in actual use, the data between the test points is inserted and supplemented by the line segment equation between two adjacent points. For example, when the set torque is between 0.5 and 1.0Nm, according to the starting point (0.5, 0.47) and end point (1.0, 0.88) of the leftmost line segment in Figure 9, the relationship curve equation can be obtained as:
y=0.82x+0.06;

其中，x是设定扭矩，且0.5≤x≤1.0，y是输出扭矩。Among them, x is the set torque, and 0.5≤x≤1.0, and y is the output torque.

由此可用分段方程将设定扭矩和输出扭矩对应起来，达到修正输出值精准控制扭矩的目的。 From this, piecewise equations can be used to correspond the set torque and the output torque, so as to achieve the purpose of correcting the output value and accurately controlling the torque.

为了进一步提高控制精度，本发明一实施例中，所述核心控制器44还可包括：速度控制单元，用于采用电流检测结合矢量变换的方法或位置传感器6的反馈信号获取阀门当前速度，通过PID控制算法对所述交流异步电动机3的输出速度进行修正，并与所述扭矩修正单元的计算结果叠加进一步修正所述输出扭矩，以满足所述阀/门1开启或关闭各阶段的速度要求。In order to further improve the control accuracy, in an embodiment of the present invention, the core controller 44 may also include: a speed control unit, used to obtain the current speed of the valve by using the method of current detection combined with vector transformation or the feedback signal of the position sensor 6. The PID control algorithm corrects the output speed of the AC asynchronous motor 3 and superimposes it with the calculation result of the torque correction unit to further correct the output torque to meet the speed requirements of each stage of opening or closing of the valve/gate 1 .

在本发明的另一实施例中，所述核心控制器44还可进一步包括：位置控制单元，用于根据所述位置传感器6的反馈信号判断是否到达所述阀/门1开启或关闭过程各阶段的位置节点，并根据判断结果结合速度控制单元和扭矩修正单元的反馈结果进一步调整所述输出扭矩，以满足所述阀/门1开启或关闭各阶段的控制逻辑和停止位置精度的要求。本实施例中，可对阀/门1的位置、速度、力矩实时监控，按照嵌套关系由内而外可采用扭矩环、速度环、位置环的嵌套控制模式，其中，扭矩环直接影转矩，响应快精度高，可以满足实时控制电机输出扭矩的要求；速度环在扭矩环基础上工作，通过矢量控制的基本原理自阀门驱动器4或位置传感器6的反馈获取阀/门1的当前速度，并通过扭矩环施加影响，以满足不同阶段对速度的要求；位置环作为可选和补充项在速度环和扭矩环基础上工作，是最外层调节，其根据阀门驱动器4或位置传感器6的反馈判断并调节输出，以满足控制逻辑和停止位置精度的要求。In another embodiment of the present invention, the core controller 44 may further include: a position control unit, configured to determine whether each step of the opening or closing process of the valve/door 1 has been reached based on the feedback signal of the position sensor 6 . The position node of the stage is determined, and the output torque is further adjusted based on the judgment result combined with the feedback results of the speed control unit and torque correction unit to meet the control logic and stop position accuracy requirements of each stage of opening or closing of the valve/gate 1. In this embodiment, the position, speed, and torque of the valve/gate 1 can be monitored in real time. According to the nesting relationship, a nested control mode of torque loop, speed loop, and position loop can be used from the inside out. Among them, the torque loop directly affects Torque, fast response and high precision, can meet the requirements of real-time control of motor output torque; the speed loop works on the basis of the torque loop, and obtains the current value of valve/gate 1 from the feedback of valve driver 4 or position sensor 6 through the basic principle of vector control speed, and exerts influence through the torque loop to meet the speed requirements at different stages; the position loop works on the basis of the speed loop and torque loop as an optional and supplementary item, and is the outermost adjustment, which is based on the valve driver 4 or the position sensor 6 feedback to judge and adjust the output to meet the requirements of control logic and stop position accuracy.

其中，所述位置传感器6可为全行程传感器和/或点位式传感器，以实现全行程高精度位置控制或准确的起/终点位置控制。所述位置传感器6可安装在所述交流异步电动机3的输出轴、减速传动箱21的输出轴或驱动机构22的输入轴或输出轴上，并通过信号转换模块/IO模块45与核心控制器连接。本发明对全行程传感器和点位式传感器兼容，适用于全行程传感器、点位式传感器、全行程传感器和点位置传感器6的组合。实践中，位置传感器6的选用与阀/门1的类别、阀/门1的机械结构特点、阀/门1的使用环境及阀/门1的生产技术水平等有关，一般不因阀门驱动器4需求而改变。在预装全行程传感器的***中，根据连续的位置信号准确划分阀/门1执行的不同阶段(本发明可包括启动阶段、加速阶段、匀速阶段、减速阶段、慢速逼近阶段、扭矩控制阶段和停止阶段等)，对每个过程的开始位置、结束位置、速度、扭矩、加速度、减速度等参数进行合理控制以达到预期的执行效果。本发明配合不同的接口转换硬件，可适应各种类型的全行程传感器。 The position sensor 6 may be a full-stroke sensor and/or a point sensor to achieve full-stroke high-precision position control or accurate start/end position control. The position sensor 6 can be installed on the output shaft of the AC asynchronous motor 3, the output shaft of the reduction transmission box 21 or the input shaft or output shaft of the driving mechanism 22, and communicates with the core controller through the signal conversion module/IO module 45 connect. The invention is compatible with full-stroke sensors and point-type sensors, and is suitable for combinations of full-stroke sensors, point-type sensors, full-stroke sensors and point position sensors 6 . In practice, the selection of the position sensor 6 is related to the type of the valve/gate 1, the mechanical structural characteristics of the valve/gate 1, the use environment of the valve/gate 1, and the production technology level of the valve/gate 1. Generally, it does not depend on the valve driver 4 Change according to needs. In a system pre-installed with a full-stroke sensor, the different stages of valve/door 1 execution are accurately divided according to continuous position signals (the present invention can include a starting stage, an acceleration stage, a uniform speed stage, a deceleration stage, a slow approach stage, and a torque control stage). and stop phase, etc.), reasonably control the starting position, end position, speed, torque, acceleration, deceleration and other parameters of each process to achieve the expected execution effect. The invention cooperates with different interface conversion hardware and can be adapted to various types of full-stroke sensors.

其中，节点点位式传感器因成本低廉、安装方便、环境适应性强，在阀门执行***中仍占有一定的比例。在预装节点点位式传感器的***中，根据离散的节点位置信号有限辨识和划分阀门执行的不同过程，并在确保安全的前提下确保开启或关闭的执行结果。在预装全行程传感器和点位置传感器6的***中，与仅预装全行程传感器的***相同，节点点位式传感器作为保护器件或安全冗余器件进行极限或特殊位置的安全保护。本发明在传感器种类和形式方面的兼容性拓宽了其使用范围和适用环境，也提升了其适用过程的安全性。Among them, node-type sensors still occupy a certain proportion in valve actuator systems due to their low cost, easy installation, and strong environmental adaptability. In a system pre-installed with node position sensors, the different processes performed by the valve are limitedly identified and divided based on discrete node position signals, and the execution results of opening or closing are guaranteed while ensuring safety. In a system pre-installed with a full-stroke sensor and a point position sensor 6, the same as a system with only a pre-installed full-stroke sensor, the node point-type sensor acts as a protection device or safety redundant device for safety protection of extreme or special positions. The compatibility of the present invention in terms of sensor types and forms broadens its use scope and applicable environment, and also improves the safety of its applicable process.

本发明的阀门驱动器4可适用于各种阀/门1的开闭控制，满足如滑动门、平开门，旋转门、百叶门、闸阀、截止阀、球阀、蝶阀、旋塞阀、风阀等不同工况的控制要求。其中，调节阀通过精确调整阀/门1的开度大小或过程运动速度，以实现不同流量特性的控制，比如等百分比控制特性、直接控制特性、快开控制特性和抛物线控制特性等。调节阀中间任意位置的定位，其每一次的调整均可视为一个完整的工作运动过程。例如球阀在流量调整时开关角度从45°至60°变化的过程中，经历的工作过程即是启动阶段、加速阶段、匀速阶段、减速阶段、逼近阶段及停止阶段。而开关阀因需要按一定速度实现开关动作，且需要保证关闭时的密封性，因此相比调节阀可增加扭矩控制过程，例如闸阀的关闭过程可分为启动阶段、加速阶段、匀速阶段、减速阶段、慢速逼近阶段、扭矩控制阶段和停止阶段。The valve driver 4 of the present invention can be used to control the opening and closing of various valves/doors 1, such as sliding doors, swing doors, revolving doors, shutter doors, gate valves, globe valves, ball valves, butterfly valves, plug valves, air valves, etc. Control requirements of working conditions. Among them, the regulating valve achieves control of different flow characteristics by accurately adjusting the opening of the valve/gate 1 or the process movement speed, such as equal percentage control characteristics, direct control characteristics, quick opening control characteristics, and parabolic control characteristics. For the positioning of any position in the middle of the regulating valve, each adjustment can be regarded as a complete working movement process. For example, when the switching angle of a ball valve changes from 45° to 60° during flow adjustment, the working process it goes through is the starting stage, acceleration stage, uniform speed stage, deceleration stage, approach stage and stop stage. The switching valve needs to realize the switching action at a certain speed and needs to ensure the sealing when closing. Therefore, compared with the regulating valve, it can increase the torque control process. For example, the closing process of the gate valve can be divided into starting stage, acceleration stage, uniform speed stage, and deceleration. phase, slow approach phase, torque control phase and stop phase.

本发明通过阀门驱动器4对交流异步电动机3进行扭矩矢量控制、扭矩标定及电动机参数辨识，可分别实现输出扭矩的动态控制和设定扭矩的静态修正；以多重PID嵌套的方式由内而外分别建立扭矩环、速度环和位置环，并根据阀/门1执行过程不同阶段的需求选择闭环层级或嵌套深度，实现了对普通交流异步电动机3的位置、速度、扭矩三闭环全行程准伺服控制，从而确保阀/门1执行过程的迅速、精确，及执行结果的准确、有效，即采用外部嵌套的速度闭环和位置闭环对扭矩闭环(如电流闭环)进行嵌套控制的方法，在提高输出扭矩的响应速度和控制精度的同时，还在需要确保运行速度和定位精度的执行阶段进行速度和位置控制，进一步提升了执行过程的效率、稳定性、准确度和灵活性。可精确控制关阀密封比压，能够根据开关阀全行程负载变化，通过优化速度和扭矩的匹配参数，实现普通交流异步电动机3的功率精准控制，实现阀/门“关得严”，“停得准”和“打得开”；同时基于阀/门位移的启动阶段、加速阶段、匀速阶段、减速阶段、慢速逼近阶段、扭矩控制阶段和停止阶段，可实现分阶段组合控制，根据阀/门在使用现场各种不同的工况要求匹配不同的控制策略，例如开/关阀门的效率(时间)优先、开/关阀门的位置精度优先、开/关阀门的扭矩精度优先、开/关阀门的阀门安全优先、开/关阀门的管线安全优先，开/关阀门的管路***平稳性优先等，以满足快开快关、水锤消除、调节阀工况、故障应对的要求。通过短时“超频”(超速)和“超电流”(超扭矩)，可选用更小规格的交流异步电动机3，进而可减小产品体积和重量及降低成本，改善管道***的动态特性；实现普通交流异步电动机3负载平滑性控制的同时，还可降低对电网的冲击。The present invention uses the valve driver 4 to perform torque vector control, torque calibration and motor parameter identification on the AC asynchronous motor 3, which can respectively realize dynamic control of the output torque and static correction of the set torque; in a multiple PID nesting manner, from the inside out. Establish the torque loop, speed loop and position loop respectively, and select the closed-loop level or nesting depth according to the needs of the different stages of the valve/gate 1 execution process, achieving full-stroke accuracy of the three closed loops of position, speed and torque of the ordinary AC asynchronous motor 3 Servo control is used to ensure that the execution process of the valve/gate 1 is rapid and precise, and the execution results are accurate and effective. That is, the external nested speed closed loop and position closed loop are used to nest the torque closed loop (such as current closed loop). While improving the response speed and control accuracy of the output torque, it also performs speed and position control during the execution phase where operating speed and positioning accuracy need to be ensured, further improving the efficiency, stability, accuracy and flexibility of the execution process. It can accurately control the specific pressure of the closing valve seal, and can achieve precise power control of the ordinary AC asynchronous motor 3 by optimizing the matching parameters of speed and torque according to the load change of the switching valve throughout the stroke, so as to achieve "tight closing" and "stop" of the valve/door. "accurately" and "can be opened"; at the same time, the startup phase based on the valve/gate displacement, The acceleration phase, uniform speed phase, deceleration phase, slow speed approach phase, torque control phase and stop phase can realize phased combination control, and match different control strategies according to the various working conditions of the valve/gate at the use site, such as opening /Close valve efficiency (time) priority, open/close valve position accuracy priority, open/close valve torque accuracy priority, open/close valve safety priority, open/close valve pipeline safety priority, open/close valve priority The stability of the pipeline system is given priority to meet the requirements of quick opening and closing, water hammer elimination, regulating valve working conditions, and fault response. Through short-term "overfrequency" (overspeed) and "overcurrent" (overtorque), smaller AC asynchronous motors 3 can be selected, thereby reducing product volume and weight and cost, and improving the dynamic characteristics of the pipeline system; achieving While controlling the load smoothness of ordinary AC asynchronous motor 3, it can also reduce the impact on the power grid.

当然，本发明还可有其它多种实施例，在不背离本发明精神及其实质的情况下，熟悉本领域的技术人员当可根据本发明作出各种相应的改变和变形，但这些相应的改变和变形都应属于本发明所附的权利要求的保护范围。 Of course, the present invention can also have various other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention. However, these corresponding Changes and deformations should fall within the protection scope of the appended claims of the present invention.

Claims

一种阀门驱动器，包括壳体和安装在所述壳体内的核心控制器和变频驱动模块，所述变频驱动模块分别与所述核心控制器和交流异步电动机连接，其特征在于，所述核心控制器通过实时调整所述变频驱动模块的输出扭矩或输出扭矩限值，满足阀/门响应速度和控制精度要求，所述核心控制器包括：A valve driver includes a housing, a core controller and a variable frequency drive module installed in the housing. The variable frequency drive module is respectively connected to the core controller and an AC asynchronous motor. It is characterized in that the core control The controller meets the valve/gate response speed and control accuracy requirements by adjusting the output torque or output torque limit of the variable frequency drive module in real time. The core controller includes:

逻辑控制单元，根据阀/门执行开启和关闭过程各阶段的需求设定相应的设定扭矩，并将所述设定扭矩发送至所述变频驱动模块，所述变频驱动模块以所述设定扭矩为输出扭矩或输出扭矩限值驱动所述交流异步电动机执行相应的阀/门开启或关闭动作；The logic control unit sets the corresponding set torque according to the requirements of each stage of the valve/door opening and closing process, and sends the set torque to the variable frequency drive module. The variable frequency drive module uses the set The torque is the output torque or the output torque limit drives the AC asynchronous motor to perform the corresponding valve/gate opening or closing action;

实时扭矩检测单元，获取所述交流异步电动机或阀/门运行的实时扭矩；以及A real-time torque detection unit to obtain the real-time torque of the AC asynchronous motor or valve/gate operation; and

扭矩修正单元，根据所述实时扭矩和设定扭矩，以所述设定扭矩为输入，以所述实时扭矩为反馈，采用PID控制算法对所述输出扭矩进行修正，以根据所述实时扭矩调节所述输出扭矩的响应速度和控制精度。A torque correction unit, based on the real-time torque and the set torque, using the set torque as input, using the real-time torque as feedback, and using a PID control algorithm to correct the output torque to adjust according to the real-time torque The response speed and control accuracy of the output torque.
如权利要求1所述的阀门驱动器，其特征在于，所述实时扭矩通过扭矩传感器直接获取，所述扭矩传感器安装在所述交流异步电动机的输出轴、减速传动箱的输出轴或驱动机构上，并与所述实时扭矩检测单元连接，将测得的实时扭矩信号传送至所述实时扭矩检测单元。The valve driver according to claim 1, characterized in that the real-time torque is directly obtained through a torque sensor, and the torque sensor is installed on the output shaft of the AC asynchronous motor, the output shaft of the reduction transmission box or the driving mechanism, And connected with the real-time torque detection unit, and transmits the measured real-time torque signal to the real-time torque detection unit.
如权利要求1所述的阀门驱动器，其特征在于，所述实时扭矩通过输出电流检测电路结合矢量变换方法获取，所述输出电流检测电路检测所述交流异步电动机的物理参数并传送至所述实时扭矩检测单元，所述实时扭矩检测单元计算获得所述实时扭矩并传送至所述扭矩修正单元，所述物理参数包括定子电阻、转子电阻、定转子互感、定转子漏感和空载电流。The valve driver according to claim 1, wherein the real-time torque is obtained through an output current detection circuit combined with a vector transformation method, and the output current detection circuit detects the physical parameters of the AC asynchronous motor and transmits them to the real-time torque. A torque detection unit. The real-time torque detection unit calculates and obtains the real-time torque and transmits it to the torque correction unit. The physical parameters include stator resistance, rotor resistance, stator and rotor mutual inductance, stator and rotor leakage inductance and no-load current.
如权利要求3所述的阀门驱动器，其特征在于，所述交流异步电动机的三相交流信号经过坐标变换，转换为定子电流的转矩分量i_sT和定子电流的励磁分量i_sM，根据磁场定向不同分别采用转子磁场定向矢量控制、直接转矩控制、转差频率矢量控制、定子磁场定向矢量控制或气隙磁场定向矢量控制计算获得所述实时扭矩；The valve driver according to claim 3, characterized in that the three-phase AC signal of the AC asynchronous motor is converted into the torque component i _sT of the stator current and the excitation component i _sM of the stator current through coordinate transformation, and is oriented according to the magnetic field The real-time torque is calculated using rotor magnetic field oriented vector control, direct torque control, slip frequency vector control, stator magnetic field oriented vector control or air gap magnetic field oriented vector control respectively;

其中，所述转子磁场定向矢量控制，根据转子全磁链矢量方向进行所述磁场定向，并采用如下公式获得所述实时扭矩T_ei：
Wherein, the rotor magnetic field orientation vector control is carried out according to the direction of the rotor full flux linkage vector. field orientation, and use the following formula to obtain the real-time torque _Te :

其中，n_p为所述交流异步电动机的电机极对数，L_md为所述交流异步电动机的定转子同轴时一相绕组的等效互感，L_rd为所述交流异步电动机的转子一相绕组的等效自感，i_sT为所述交流异步电动机的定子电流的转矩分量，Ψ_r为所述交流异步电动机的转子磁链；Where, n _p is the number of motor pole pairs of the AC asynchronous motor, L _md is the equivalent mutual inductance of one phase winding when the stator and rotor of the AC asynchronous motor are coaxial, and L _rd is one phase of the rotor of the AC asynchronous motor. The equivalent self-inductance of the winding, i _sT is the torque component of the stator current of the AC asynchronous motor, and Ψ _r is the rotor flux linkage of the AC asynchronous motor;

所述直接转矩控制采用如下公式获得所述实时扭矩T_ei：
The direct torque control uses the following formula to obtain the real-time torque _Tei :

其中，n_p为所述交流异步电动机的电机极对数，L_m为定转子互感，L_s为定子一相绕组的自感，L_r为转子一相绕组的自感，Ψ_s为定子磁链，Ψ_r为转子磁链，θ_sr为转矩角，是矢量Ψ_s和Ψ_r之间的夹角；Among them, n _p is the number of motor pole pairs of the AC asynchronous motor, L _m is the stator and rotor mutual inductance, L _s is the self-inductance of the stator one-phase winding, L _r is the self-inductance of the rotor one-phase winding, and Ψ _s is the stator magnetic field. chain, Ψ _r is the rotor flux linkage, θ _sr is the torque angle, which is the angle between the vectors Ψ _s and Ψ _r ;

所述转差频率矢量控制，根据转差频率矢量进行所述磁场定向，并采用如下公式获得所述实时扭矩：
The slip frequency vector control orients the magnetic field according to the slip frequency vector, and uses the following formula to obtain the real-time torque:

其中，n_p为所述交流异步电动机的电机极对数，T_r为转子电磁时间常数，L_rd为所述交流异步电动机的转子一相绕组的等效自感，Ψ_r为所述交流异步电动机的转子磁链，ω_s1为转差角频率；Where, n _p is the number of motor pole pairs of the AC asynchronous motor, T _r is the rotor electromagnetic time constant, L _rd is the equivalent self-inductance of the rotor one-phase winding of the AC asynchronous motor, Ψ _r is the AC asynchronous motor The rotor flux of the motor, ω _s1 is the slip angular frequency;

所述定子磁场定向矢量控制，根据定子磁链矢量方向进行所述磁场定向，并采用如下公式获得所述实时扭矩T_ei：
T_ei＝n_pΨ_si_sT；The stator magnetic field orientation vector control performs the magnetic field orientation according to the direction of the stator flux vector, and uses the following formula to obtain the real-time torque _Tei :
T _ei =n _p Ψ _s i _sT ;

其中，n_p为所述交流异步电动机的电机极对数，Ψ_s为所述交流异步电动机的定子磁链，i_sT为定子电流的转矩分量；Where, n _p is the number of motor pole pairs of the AC asynchronous motor, Ψ _s is the stator flux linkage of the AC asynchronous motor, and i _sT is the torque component of the stator current;

所述气隙磁场定向矢量控制，根据扭矩气隙磁链矢量方向进行所述磁场定向，并采用如下公式获得所述实时扭矩T_ei：
T_ei＝n_pΨ_mi_sT；The air gap magnetic field orientation vector control performs the magnetic field orientation according to the direction of the torque air gap flux vector, and uses the following formula to obtain the real-time torque _Tei :
T _ei =n _p Ψ _m i _sT ;

其中，n_p为所述交流异步电动机的电机极对数，Ψ_m为气隙磁链，i_sT为定子电流的转矩分量。 Among them, n _p is the number of motor pole pairs of the AC asynchronous motor, Ψ _m is the air gap flux linkage, and i _sT is the torque component of the stator current.
如权利要求1-4中任意一项所述的阀门驱动器，其特征在于，所述核心控制器还包括：The valve driver according to any one of claims 1-4, wherein the core controller further includes:

速度控制单元，用于采用矢量控制方法或位置传感器的反馈信号获取阀门当前速度，通过PID控制算法对所述交流异步电动机的输出速度进行修正，并与所述扭矩修正单元叠加修正所述输出扭矩，以满足所述阀/门开启或关闭各阶段的速度要求。The speed control unit is used to obtain the current speed of the valve using the vector control method or the feedback signal of the position sensor, correct the output speed of the AC asynchronous motor through the PID control algorithm, and superimpose it with the torque correction unit to correct the output torque. , to meet the speed requirements of each stage of opening or closing of the valve/door.
如权利要求5所述的阀门驱动器，其特征在于，所述核心控制器还包括：The valve driver according to claim 5, wherein the core controller further includes:

位置控制单元，用于根据所述位置传感器的反馈信号判断是否到达所述阀/门开启或关闭过程各阶段的位置节点，并根据判断结果进一步调整所述输出扭矩，以满足所述阀/门开启或关闭各阶段的控制逻辑和停止位置精度的要求。A position control unit, configured to determine whether the position node of each stage of the valve/door opening or closing process has been reached according to the feedback signal of the position sensor, and further adjust the output torque according to the judgment result to meet the requirements of the valve/door. Turn on or off the control logic of each stage and the requirements for stop position accuracy.
如权利要求6所述的阀门驱动器，其特征在于，所述位置传感器为全行程传感器和/或点位式传感器，以实现全行程高精度位置控制或准确的起/终点位置控制。The valve driver according to claim 6, wherein the position sensor is a full-stroke sensor and/or a point sensor to achieve full-stroke high-precision position control or accurate start/end position control.
如权利要求7所述的阀门驱动器，其特征在于，所述位置传感器安装在所述交流异步电动机的输出轴、减速传动箱的输出轴或驱动机构上，并与所述核心控制器连接。The valve driver according to claim 7, wherein the position sensor is installed on the output shaft of the AC asynchronous motor, the output shaft of the reduction transmission box or the driving mechanism, and is connected to the core controller.
如权利要求1、2、3、4、6、7或8所述的阀门驱动器，其特征在于，所述核心控制器还包括：The valve driver according to claim 1, 2, 3, 4, 6, 7 or 8, characterized in that the core controller further includes:

扭矩标定单元，与扭矩标定装置连接，通过所述扭矩标定装置对所述交流异步电动机进行扭矩标定，用于修正所述交流异步电动机的输出扭矩。A torque calibration unit is connected to a torque calibration device, and performs torque calibration on the AC asynchronous motor through the torque calibration device to correct the output torque of the AC asynchronous motor.
一种电动阀/门，包括阀/门、传动装置、交流异步电动机和阀门驱动器，所述交流异步电动机通过所述传动装置与所述阀/门连接，所述阀门驱动器与所述交流异步电动机连接，并通过所述交流异步电动机控制所述阀/门的开闭，其特征在于，所述阀门驱动器为上述权利要求1-9中任意一项所述的阀门驱动器，所述阀门驱动器与所述交流异步电动机为一体连接件；或所述阀门驱动器与所述交流异步电动机分体设置，并通过电缆或无线连接。 An electric valve/door, including a valve/door, a transmission device, an AC asynchronous motor and a valve driver. The AC asynchronous motor is connected to the valve/door through the transmission device, and the valve driver is connected to the AC asynchronous motor. is connected, and controls the opening and closing of the valve/door through the AC asynchronous motor, characterized in that the valve driver is the valve driver according to any one of the above claims 1-9, and the valve driver is connected to the valve driver. The AC asynchronous motor is an integrated connection piece; or the valve driver and the AC asynchronous motor are arranged separately and connected through cables or wirelessly.