Switching value pulse control method of electric actuating mechanism and related equipment

Abstract

The invention relates to the technical field of pulse control of a thermal power plant, and discloses an electric actuating mechanism switching value pulse control method and related equipment.The full travel time of an electric actuating mechanism is obtained firstly, and the state of the electric actuating mechanism is determined according to the full travel time; adjusting the electric actuating mechanism according to the state of the electric actuating mechanism in the whole travel time, and carrying out differential processing on an adjusting result; due to the fact that the differential effect and the integral effect offset each other, the linear relation of the actual positioning opening degree of the PID output valve is guaranteed, conversion processing of analog quantity and switching value signals is carried out on output of differential processing, and switching value pulses of the electric actuating mechanism are controlled according to the conversion processing result. And for the electric actuating mechanism without position feedback, automatic control in a full-position range can be introduced, so that the controllability and reliability of the control of the electric actuating mechanism are comprehensively improved.

Description

Technical Field

[0001] The invention relates to the technical field of pulse control of thermal power plants, in particular to a method for controlling switching pulses of electric actuators and related equipment. Background Art

[0002] At present, the electric actuators of thermal power units generally use analog servo control to position the actuators. The principle is that the regulator control output is a 4-20MA current signal, and the servo control is performed through the electric actuator's position 4-20MA feedback signal. Since the position feedback of electric actuators mostly uses the sliding wire resistance measurement principle, there is a problem of wear caused by long-term use. When the position feedback fails, the actuator will produce an erroneous output, which affects the process safety. In addition, most electric actuators are not equipped with a position feedback device for cost considerations, so they can only perform full-open and full-close position control, and cannot be PID adjusted. Summary of the invention

[0003] In order to overcome the defects of the prior art, the purpose of the present invention is to provide a method for controlling a switching pulse of an electric actuator and related equipment, so as to solve the technical problem of how to remotely control an electric actuator in the prior art.

[0004] The present invention is achieved through the following technical solutions:

[0005] In a first aspect, the present invention provides a method for controlling a switching pulse of an electric actuator, comprising:

[0006] Obtain the full stroke time of the electric actuator, and determine the state of the electric actuator based on the full stroke time;

[0007] Adjust the output based on the state of the electric actuator and perform differential processing on the adjustment output result;

[0008] The output of the differential processing is converted into analog quantity and switch quantity signal, and the switch quantity pulse of the electric actuator is controlled according to the conversion processing result.

[0009] Preferably, the movement position of the valve core of the electric actuator is set to 0-100% in the full stroke time, wherein 0% is when the valve core is in a closed state, and 100% is when the valve core is in a fully open state.

[0010] Furthermore, an intermediate variable 100 / T, % / second, is introduced through the full stroke time; wherein the intermediate variable is the ratio of the 100% opening to the full stroke time.

[0011] Preferably, the electric actuator is adjusted by a K value setting method in the adjustment output based on the state of the electric actuator, and the adjustment output instruction is instantaneously adjusted from 0% to 100%, and the K value is adjusted and determined based on that the adjustment output should be 100 / T.

[0012] Preferably, the output of the differential processing is converted into analog quantity and switch quantity signal, and the specific process is as follows:

[0013] Record the switch output signal from the electric actuator from the closed state to the fully open state during the control cycle;

[0014] The control output is determined according to the duty cycle of the switch quantity signal in the issued switch quantity output signal.

[0015] Furthermore, the specific process of determining the control output according to the duty cycle of the switch quantity signal in the issued switch quantity output signal is as follows:

[0016] When the switch output signal is 100 / T, the analog quantity is converted into an on / off pulse signal and the duty cycle is processed to be 1, and the control output is a continuous output of the switch signal within the time range of T;

[0017] When the switch output signal is 1 / 2 of 100 / T, the analog quantity is converted into an on / off pulse signal and the duty cycle is processed to 0.5, and the control output is alternately outputting 1 and 0 signals within the time range of T;

[0018] When the switch output signal is 0, the duty cycle is 0, and the switch control output is a 0 signal.

[0019] In a second aspect, the present invention provides a switch quantity pulse control system for an electric actuator, comprising:

[0020] The acquisition module is used to obtain the full stroke time of the electric actuator and determine the state of the electric actuator based on the full stroke time.

[0021] A differential processing module is used to adjust the output based on the state of the electric actuator and perform differential processing on the adjustment output result;

[0022] The pulse control module is used to convert the output of the differential process into analog and switch quantity signals, and to control the switch quantity pulses of the electric actuator according to the conversion processing results.

[0023] In a third aspect, the present invention provides a mobile terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method for controlling the switch quantity pulse of the electric actuator when executing the computer program.

[0024] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and wherein the computer program, when executed by a processor, implements the steps of the electric actuator switch quantity pulse control method as described above.

[0025] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions, characterized in that the computer instructions instruct a computing device to execute operations corresponding to the electric actuator switch quantity pulse control method as described above.

[0026] Compared with the prior art, the present invention has the following beneficial technical effects:

[0027] The present invention provides a method for controlling the switching pulse of an electric actuator, by first acquiring the full stroke time of the electric actuator, determining the state of the electric actuator according to the full stroke time, adjusting the electric actuator according to the state of the electric actuator during the full stroke time, and performing differential processing on the adjustment result; since the differential action and the integral action offset each other, the linear relationship of the actual positioning opening of the PID output valve is guaranteed, the output of the differential processing is converted into an analog quantity and a switching quantity signal, and the switching pulse of the electric actuator is controlled according to the conversion processing result, and automatic control of the full position range can be introduced for the electric actuator that is not configured with position feedback, thereby comprehensively improving the controllability and reliability of the control of the electric actuator.

[0028] Furthermore, a differential processing link is added to the conventional PID output. Since the opening and closing of the electric actuator is achieved by the forward and reverse rotation of its motor, the opening and closing process of the electric actuator is regarded as an integral process, and the conventional PID output is differentially processed accordingly. Since the differential action and the integral action offset each other, the linear relationship of the actual positioning opening of the PID output valve is guaranteed.

[0029] Furthermore, the differential control output is continuously adjustable through the duty cycle in the range of 0 to 100 / T. When the differential processing output is a positive number, the output is selected as an on pulse; when the differential processing output is a negative number, the output is selected as an off pulse, thereby realizing switch output control. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a flow chart of a method for controlling a switching pulse of an electric actuator in an embodiment of the present invention;

[0031] Figure 2 The flowchart of the conversion process of the output of the differential processing into the analog quantity and the switch quantity signal in the embodiment of the present invention is shown;

[0032] Figure 3Schematic diagram of a switch output pulse corresponding to a differential processing link of 100 / T in an embodiment of the present invention;

[0033] Figure 4 Schematic diagram of a switch output pulse corresponding to a differential processing link of 1 / 2 of 100 / T in an embodiment of the present invention;

[0034] Figure 5 It is a schematic diagram of the differential link and the control principle of converting analog quantity into switch quantity in the embodiment of the present invention;

[0035] Figure 6 It is a schematic diagram of the switch quantity pulse control system of the electric actuator in an embodiment of the present invention.

[0036] In the figure: 1-acquisition module; 2-differential processing module; 3-pulse control module. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0038] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0039] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0040] The object of the present invention is to provide a method for controlling a switching pulse of an electric actuator and related equipment, so as to solve the technical problem of how to remotely control an electric actuator in the prior art.

[0041] Example 1

[0042] See also Figure 1 and Figure 5In one embodiment of the present invention, a method for controlling a switching pulse of an electric actuator is provided, comprising:

[0043] Step 1, obtaining the full stroke time of the electric actuator, and determining the state of the electric actuator according to the full stroke time;

[0044] Specifically, the movement position of the valve core of the electric actuator is set to 0-100% during the full stroke time, wherein 0% is when the valve core is in a closed state, and 100% is when the valve core is in a fully open state.

[0045] Among them, the intermediate variable 100 / T, % / second is introduced through the full stroke time; the intermediate variable is the ratio of the 100% opening to the full stroke time.

[0046] Step 2, adjusting the output based on the state of the electric actuator, and performing differential processing on the adjustment output result;

[0047] Specifically, the electric actuator is adjusted by the K value setting method in the adjustment output based on the state of the electric actuator, and the adjustment output instruction is instantaneously adjusted from 0% to 100%. The K value is adjusted and determined based on the adjustment output being 100 / T.

[0048] Step 3, converting the output of the differential process into analog quantity and switch quantity signals, and controlling the switch quantity pulses of the electric actuator according to the conversion processing result.

[0049] Specifically, according to Figure 2 As shown, the output of the differential processing is converted into analog and switch signals. The specific process is as follows:

[0050] Step 31, recording the switch output signal emitted by the electric actuator from the closed state to the fully open state during the control cycle;

[0051] The control cycle of the control system is recorded as t1. From the current moment, the actuator opening degree needs to continuously send n=T / t1 switch output signals from 0% to 100%.

[0052] Step 32, determining the control output according to the duty cycle of the switch quantity signal in the issued switch quantity output signal.

[0053] Specifically, n output pulses are continuously sent out from the current moment, and the duty cycle is 1. The duty cycle is determined according to the output of the differential processing link.

[0054] The specific process of determining the control output according to the duty cycle of the analog quantity and the switch quantity signal is as follows:

[0055] When the switch output signal is 100 / T, the analog quantity is converted into an on / off pulse signal and the duty cycle is processed to be 1. The control output is a continuous output switch signal within the T time range, such as Figure 3 As shown;

[0056] When the switch output signal is 1 / 2 of 100 / T, the analog quantity is converted into an on / off pulse signal and the duty cycle is processed to be 0.5. The control output is displayed as alternating 1 and 0 signals within the time range of T. Figure 4 As shown;

[0057] When the switch output signal is 0, the duty cycle is 0, and the switch control output is a 0 signal.

[0058] In this embodiment, when the differential processing output is a positive number, an on pulse is selected to be output; when the differential processing output is a negative number, an off pulse is selected to be output. The differential control output is within the range of 0 to 100 / T, and the duty cycle is continuously adjustable, thereby realizing a switch output control method.

[0059] In summary, the present embodiment provides a method for controlling the switch quantity pulse of an electric actuator, by first obtaining the full stroke time of the electric actuator, determining the state of the electric actuator according to the full stroke time, and adjusting the electric actuator according to the state of the electric actuator during the full stroke time, and performing differential processing on the adjustment result; since the differential action and the integral action offset each other, the linear relationship of the actual positioning opening of the PID output valve is guaranteed, the output of the differential processing is converted into analog quantity and switch quantity signal, and the switch quantity pulse of the electric actuator is controlled according to the conversion processing result, and automatic control of the full position range can be introduced for electric actuators that are not configured with position feedback, thereby comprehensively improving the controllability and reliability of the electric actuator control.

[0060] In this embodiment, a differential processing link is added to the conventional PID output. Since the opening and closing of the electric actuator is achieved by the forward and reverse rotation of its motor, the opening and closing process of the electric actuator is regarded as an integral process, and the conventional PID output is differentially processed accordingly. Since the differential action and the integral action offset each other, the linear relationship of the actual positioning opening of the PID output valve is guaranteed.

[0061] In this embodiment, the differential control output is continuously adjustable through the duty cycle in the range of 0 to 100 / T. When the differential processing output is a positive number, an on pulse is selected to be output; when the differential processing output is a negative number, an off pulse is selected to be output, thereby realizing switch output control.

[0062] This embodiment does not rely on the position feedback device of the electric actuator, which solves the problem that the position feedback device cannot be remotely controlled due to wear caused by long-term use, and does not affect the normal operation of the regulator when the position feedback fails. For most electric actuators that are not equipped with a position feedback device due to cost considerations, the method provided by the present invention can also be used to introduce full-stroke automatic control, thereby expanding the application scope of automatic control. The present invention is of great significance to improving the overall automation control level of the above-mentioned units. If integrated in a domestic DCS system, it has great promotion value. This embodiment can be implemented in computer control systems such as PLC and DCS, and is easy to program and configure. It can also be integrated into a dedicated PID module by a DCS manufacturer.

[0063] Example 2

[0064] according to Figure 6 As shown, the present invention also provides a switch quantity pulse control system of an electric actuator, comprising:

[0065] Acquisition module 1, used to acquire the full stroke time of the electric actuator, and determine the state of the electric actuator according to the full stroke time;

[0066] The differential processing module 2 is used to adjust the output based on the state of the electric actuator and perform differential processing on the adjustment output result;

[0067] The pulse control module 3 is used to convert the output of the differential process into analog quantity and switch quantity signals, and to control the switch quantity pulses of the electric actuator according to the conversion processing result.

[0068] Example 3

[0069] The present invention also provides a mobile terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, such as a switch quantity pulse control program for an electric actuator.

[0070] When the processor executes the computer program, the steps of the above-mentioned method for controlling the switching pulse of the electric actuator are implemented, for example:

[0071] Obtain the full stroke time of the electric actuator, and determine the state of the electric actuator based on the full stroke time;

[0072] Adjust the output based on the state of the electric actuator and perform differential processing on the adjustment output result;

[0073] The output of the differential processing is converted into analog quantity and switch quantity signal, and the switch quantity pulse of the electric actuator is controlled according to the conversion processing result.

[0074] Alternatively, when the processor executes the computer program, the functions of each module in the above system are realized, for example:

[0075] Acquisition module 1, used to acquire the full stroke time of the electric actuator, and determine the state of the electric actuator according to the full stroke time;

[0076] The differential processing module 2 is used to adjust the output based on the state of the electric actuator and perform differential processing on the adjustment output result;

[0077] The pulse control module 3 is used to convert the output of the differential process into analog quantity and switch quantity signals, and to control the switch quantity pulses of the electric actuator according to the conversion processing result.

[0078] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the mobile terminal.

[0079] For example, the computer program may be divided into an acquisition module 1, a differential processing module 2 and a pulse control module 3;

[0080] The specific functions of each module are as follows:

[0081] Acquisition module 1, used to acquire the full stroke time of the electric actuator, and determine the state of the electric actuator according to the full stroke time;

[0082] The differential processing module 2 is used to adjust the output based on the state of the electric actuator and perform differential processing on the adjustment output result;

[0083] The pulse control module 3 is used to convert the output of the differential process into analog quantity and switch quantity signals, and to control the switch quantity pulses of the electric actuator according to the conversion processing result.

[0084] The mobile terminal may be a computing device such as a desktop computer, a notebook, a palm computer, a cloud server, etc. The mobile terminal may include, but is not limited to, a processor and a memory.

[0085] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the mobile terminal, and uses various interfaces and lines to connect various parts of the entire mobile terminal.

[0086] The memory may be used to store the computer programs and / or modules, and the processor implements various functions of the mobile terminal by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory.

[0087] The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0088] Example 4

[0089] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for controlling a switch quantity pulse of an electric actuator are implemented.

[0090] If the module / unit integrated in the mobile terminal is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0091] Based on this understanding, the present invention implements all or part of the processes in the above method, and can also be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned aggregate reinforcement learning resource scheduling method can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc.

[0092] The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0093] It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electrical carrier signals and telecommunication signals.

[0094] Example 5

[0095] A computer program product includes computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the above-mentioned method for controlling switching pulses of an electric actuator.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for controlling a switching pulse of an electric actuator, characterized in that: include: Obtain the full stroke time of the electric actuator, and determine the state of the electric actuator based on the full stroke time; Adjust the output based on the state of the electric actuator and perform differential processing on the adjustment output result; The output of the differential processing is converted into analog quantity and switch quantity signal, and the switch quantity pulse of the electric actuator is controlled according to the conversion processing result.

2. A method for controlling a switching pulse of an electric actuator according to claim 1, characterized in that: The movement position of the valve core of the electric actuator is set to 0-100% in the full stroke time, wherein 0% is when the valve core is in a closed state, and 100% is when the valve core is in a fully open state.

3. A method for controlling a switching pulse of an electric actuator according to claim 2, characterized in that: The intermediate variable 100 / T, % / second, is introduced through the full stroke time; The intermediate variable is the ratio of percent opening to full stroke time.

4. A method for controlling a switching pulse of an electric actuator according to claim 1, characterized in that: In the output adjustment based on the state of the electric actuator, the electric actuator is adjusted by the K value setting method, and the adjustment output command is instantly adjusted from 0% to 100%. The K value is adjusted and determined based on the adjustment output should be 100 / T.

5. A method for controlling a switching pulse of an electric actuator according to claim 1, characterized in that: The output of the differential processing is converted into analog and switch signals. The specific process is as follows: Record the switch output signal from the electric actuator from the closed state to the fully open state during the control cycle; The control output is determined according to the duty cycle of the switch quantity signal in the issued switch quantity output signal.

6. A method for controlling a switching pulse of an electric actuator according to claim 5, characterized in that: The specific process of determining the control output according to the duty cycle of the switch quantity signal in the issued switch quantity output signal is as follows: When the switch output signal is 100 / T, the analog quantity is converted into an on / off pulse signal and the duty cycle is processed to be 1, and the control output is a continuous output of the switch signal within the time range of T; When the switch output signal is 1 / 2 of 100 / T, the analog quantity is converted into an on / off pulse signal and the duty cycle is processed to 0.5, and the control output is alternately outputting 1 and 0 signals within the time range of T; When the switch output signal is 0, the duty cycle is 0, and the switch control output is a 0 signal.

7. An electric actuator switch quantity pulse control system, characterized in that: include: The acquisition module (1) is used to obtain the full stroke time of the electric actuator and determine the state of the electric actuator according to the full stroke time. A differential processing module (2), used for adjusting the output based on the state of the electric actuator, and performing differential processing on the adjustment output result; The pulse control module (3) is used to convert the output of the differential processing into analog quantity and switch quantity signals, and to control the switch quantity pulse of the electric actuator according to the conversion processing result.

8. A mobile terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the electric actuator switch pulse control method as described in any one of claims 1-6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for controlling the switching pulse of an electric actuator as described in any one of claims 1 to 6 are implemented.

10. A computer program product comprising computer instructions, characterized in that: The computer instructions instruct the computing device to execute operations corresponding to the method for controlling the switching pulse of an electric actuator as described in any one of claims 1 to 6.

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