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Orbital valve valve position measurement system and method based on Kalman filter

A Kalman filter and measurement system technology, applied in valve devices, complex mathematical operations, mechanical equipment, etc., can solve problems such as counting errors of Hall sensors and random interference of gyroscopes

Active Publication Date: 2020-12-11
BEIJING INST OF RADIO METROLOGY & MEASUREMENT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, during the rotation of the valve, it is difficult to avoid vibration interference perpendicular to the rotation plane, resulting in counting errors of the Hall sensor
Gyroscopes have various errors such as temperature drift, time drift, and random interference, making it difficult to be used in rotation measurement systems alone

Method used

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  • Orbital valve valve position measurement system and method based on Kalman filter
  • Orbital valve valve position measurement system and method based on Kalman filter
  • Orbital valve valve position measurement system and method based on Kalman filter

Examples

Experimental program
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Embodiment

[0095] Example: Orbital Valve Position Measurement Scheme Based on Kalman Filter Algorithm

[0096] Step 1: The data collector collects the output data of the gyroscope and Hall sensor

[0097] The STM32 standard data collector can be used to automatically identify the limit rotation angle of the valve and the current angle, without the need for humans to grant the limit angle. The STM32 data collector quickly collects the output data of the three-axis gyroscope and Hall sensor with a sampling frequency of 1kHZ; at the same time, in the sampling interval, it processes the rotation angle data and updates the valve limit rotation angle with a frequency of 100HZ. in,

[0098] Gyro output signal y g,t Contains the true angular velocity ω t , zero bias ε g,t and Gaussian white noise ν g,t , as shown in the following formula: y g,t = ω t +ε g,t +ν g,t

[0099] After the quaternion solution process, the gyroscope zero bias ε g, t is the main error source that causes the th...

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Abstract

The invention discloses a track valve position measuring system and method based on a Kalman filter. The system comprises a gyroscope and a Hall sensor which are both arranged on a track valve; the system further comprises a controller, wherein the controller is connected with the gyroscope and the Hall sensor through a data collector; the data collector acquires measurement data of the gyroscopeand the Hall sensor, and the controller constructs the Kalman filter and controls the data collector to perform measurement updating on the measurement data of the gyroscope so as to obtain an updatedone-step prediction first state vector and an updated one-step prediction system covariance; a gain matrix of the updated Kalman filter is obtained according to the prediction system covariance; anda current first state vector and a current system covariance are updated according to the gain matrix. According to the track valve position measuring system and method based on the Kalman filter, thedata of the Hall sensor and the gyroscope are fused, so that the problem of poor measurement precision through using a single sensor can be solved.

Description

technical field [0001] The present application relates to valve position detection technology in the field of valves, in particular to a Kalman filter-based orbital valve position measurement system and method. Background technique [0002] As a ball valve with single seat and two-way sealing, orbit valve combines the advantages of gate valve, ball valve, globe valve and plug valve, and is widely used in gas pipelines. Orbit valves are usually configured with feedback valve position feedback. The feedback device cooperates with the on-site PLC (programmable logic circuit) system to realize the remote feedback of the valve switch state, and provides the corresponding valve position signal output for the monitoring system that manages the valve. However, limited by the structure of the existing orbital valve, the integrated feedback device is mainly used for on-site operators to observe, and the sampling accuracy directly combined with the PLC system is limited, and the cable...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16K37/00G06F17/13G06F17/16
CPCF16K37/0083G06F17/13G06F17/16
Inventor 王悦倪娜杨帆刘伟甄玉龙王旭陈涛马玉林张亮
Owner BEIJING INST OF RADIO METROLOGY & MEASUREMENT
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