A method and apparatus for setting the stroke of an electric actuator

Abstract

The application discloses a kind of stroke setting method and equipment of electric actuator, when the electric actuator is in the state of not fully open or not fully closed, the first pulse value of current valve position is determined based on the current valve position data of electric actuator, and the first torque when the electric actuator is normally operated is set;When receiving the open direction instruction, the open position end of the electric actuator is controlled, the second pulse value corresponding to the open position end is determined, and the second torque corresponding to the open direction is set;When receiving the close direction instruction, the close position end of the electric actuator is controlled, the third pulse value corresponding to the close position end is determined, and the third torque corresponding to the close direction is set, so as to realize the data of full open position and full close position derived by setting the intermediate position of pulse value, and automatically carry out the close operation of over torque after the first operation after setting to full close or full open position, improve the safety of production.

Description

Technical Field

[0001] This application relates to the field of mechanical control, and more specifically, to a method and apparatus for setting the stroke of an electric actuator. Background Technology

[0002] Intelligent electric actuators are widely used in modern industrial control and are an indispensable component of automatic control systems. By controlling the opening and closing of valves and adjusting their opening degree, the actuators improve the stability and accuracy of valves, which plays an important role in improving the performance of the entire control system and the quality of the production process.

[0003] However, when any of the following problems occur in the electric actuators on the production site: (1) damage to the internal main control board; (2) damage to the feedback component; (3) replacement of the mechanical valve body, the stroke must be reset. Therefore, stroke setting is the most routine maintenance item for electric actuators on the industrial production site.

[0004] In the above situations, whether the stroke of the electric actuator can be set depends entirely on whether the production conditions at the time permit it. When production conditions do not permit, the inability to set the stroke of the electric actuator will increase the risk of accidents during the production process.

[0005] In the early stages of automated industrial production, the stroke positioning of electric actuators was extremely cumbersome, often requiring multiple opening and closing position settings, which took a lot of time and could potentially pose safety hazards to the production site.

[0006] Later, intelligent electric actuators were gradually adopted in industrial settings. The potentiometers used in these intelligent actuators are mostly multi-turn precision adjustable potentiometers. High adjustable precision is typically required in some industrial control and instrumentation circuits. To meet production needs, these circuits employ multi-turn adjustable potentiometers. These potentiometers have advantages such as a large step range and high precision. Currently, the positioners used in electric actuators on the market, represented by SIPOS7, Lotork, and EMG, are based on components similar to absolute encoders. They record the current position by outputting pulse counts, and field applications have shown that the pulse counting method is effective and stable.

[0007] Therefore, providing a method for setting the stroke of an electric actuator, which enables the setting of the stroke of the electric actuator in industrial settings where it is not fully open or fully closed, through pulse counting to ensure production safety, has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0008] This invention provides a method for setting the stroke of an electric actuator, thereby solving the problem in the prior art of setting the stroke of an electric actuator in industrial settings where full open or full close operation is not possible. The method includes:

[0009] When the electric actuator is in a state where it cannot be fully opened or closed, the first pulse value of the current valve position is determined based on the current valve position data of the electric actuator, and the first torque for normal operation of the electric actuator is set.

[0010] Upon receiving an opening direction command, the electric actuator is controlled to open its end position, the second pulse value corresponding to the opening end position is determined, and the second torque corresponding to the opening direction is set.

[0011] Upon receiving a closing direction command, the electric actuator is controlled to close the closing position end, the value of the third pulse corresponding to the closing position end is determined, and the third torque corresponding to the closing direction is set.

[0012] The second torque and the third torque are both greater than the first torque.

[0013] In some embodiments of this application, the method further includes:

[0014] When the electric actuator restarts, the electric actuator is controlled to start from the current valve position based on the first pulse value;

[0015] Based on the second pulse value and the third pulse value, it is determined whether the electric actuator is at the end of the open position or the end of the closed position;

[0016] When the electric actuator is in the open position, the second torque is used to open the electric actuator.

[0017] When the electric actuator is in the closed position, the third torque is used to close the electric actuator.

[0018] In some embodiments of this application, when the electric actuator is in a state where it cannot be fully opened or fully closed, the first pulse value of the current valve position is determined based on the current valve position data of the electric actuator, specifically as follows:

[0019] Read the last valve position data in the electric actuator or manually adjust the valve position value to the current valve position;

[0020] Determine the pulse value corresponding to the last valve position data or the valve position value, and use the pulse value corresponding to the last valve position data or the valve position value as the first pulse value of the current valve position.

[0021] In some embodiments of this application, upon receiving an opening direction command, the opening position end of the electric actuator is controlled, the second pulse value corresponding to the opening position end is determined, and a second torque corresponding to the opening direction is set, specifically as follows:

[0022] When the opening direction command is received, the opening direction action is executed, and after the opening direction action is completed, it is determined whether the electric actuator has reached the end of the opening direction.

[0023] If so, then set the second torque;

[0024] If not, manually adjust the electric actuator to the open end and set the second torque.

[0025] In some embodiments of this application, upon receiving a closing direction command, the closing position end of the electric actuator is controlled, the third pulse value corresponding to the closing position end is determined, and a third torque corresponding to the closing direction is set, specifically as follows:

[0026] When the closing direction command is received, the closing direction action is executed, and after the closing direction action is completed, it is determined whether the electric actuator has reached the end of the closing direction.

[0027] If so, then set the third torque;

[0028] If not, manually adjust the electric actuator to the off end and set the third torque.

[0029] Accordingly, the present invention also proposes a stroke setting device for an electric actuator, the device comprising:

[0030] The determination module is used to determine the first pulse value of the current valve position based on the current valve position data of the electric actuator when the electric actuator is in a state where it cannot be fully opened or closed, and to set the first torque when the electric actuator is operating normally.

[0031] The first control module is used to control the open position end of the electric actuator when it receives the open direction command, determine the second pulse value corresponding to the open position end, and set the second torque corresponding to the open direction.

[0032] The second control module is used to control the end of the electric actuator at the closed position when a closing direction command is received, determine the value of the third pulse corresponding to the end of the closed position, and set the third torque corresponding to the closing direction.

[0033] In some embodiments of this application, the device further includes:

[0034] The start-up module is used to control the electric actuator to start from the current valve position based on the first pulse value after the electric actuator is restarted.

[0035] The judgment module is used to determine whether the electric actuator is at the end of the open position or the end of the closed position based on the second pulse value and the third pulse value;

[0036] The opening action execution module is used to perform an opening action on the electric actuator by means of the second torque when the electric actuator is in the open position end.

[0037] The closing action execution module is used to perform a closing action on the electric actuator by means of the third torque when the electric actuator is in the closed position.

[0038] In some embodiments of this application, the determining module is specifically used for:

[0039] Read the last valve position data in the electric actuator or manually adjust the valve position value to the current valve position;

[0040] Determine the pulse value corresponding to the last valve position data or the valve position value, and use the pulse value corresponding to the last valve position data or the valve position value as the first pulse value of the current valve position.

[0041] In some embodiments of this application, the first control module is specifically used for:

[0042] When the opening direction command is received, the opening direction action is executed, and after the opening direction action is completed, it is determined whether the electric actuator has reached the end of the opening direction.

[0043] If so, then set the second torque;

[0044] If not, manually adjust the electric actuator to the open end and set the second torque.

[0045] In some embodiments of this application, the second control module is specifically used for:

[0046] When the closing direction command is received, the closing direction action is executed, and after the closing direction action is completed, it is determined whether the electric actuator has reached the end of the closing direction.

[0047] If so, then set the third torque;

[0048] If not, manually adjust the electric actuator to the off end and set the third torque.

[0049] By applying the above technical solution, when the electric actuator is in a state where it cannot be fully opened or fully closed, the first pulse value of the current valve position is determined based on the current valve position data of the electric actuator, and the first torque for normal operation of the electric actuator is set; upon receiving an opening direction command, the electric actuator is controlled at the opening position end, the second pulse value corresponding to the opening position end is determined, and the second torque corresponding to the opening direction is set; upon receiving a closing direction command, the electric actuator is controlled at the closing position end, the third pulse value corresponding to the closing position end is determined, and the third torque corresponding to the closing direction is set; wherein, the second torque and The third torque is greater than the first torque. Therefore, when any of the following problems occur in the electric actuator at the production site: (1) damage to the internal main control board; (2) damage to the feedback component; (3) when the mechanical valve body is replaced, i.e. when the stroke is reset, the electric actuator is accurately positioned by pulse value in the case that the industrial site does not have the conditions for full opening or full closing, and the data of the full opening position and the full closing position are derived. After the first run to the full closing or full opening position after setting, the torque is automatically used to close the device, thereby ensuring the safe and stable operation of industrial production. At the same time, the opening or closing action is performed with a higher torque to prevent leakage. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 A flowchart illustrating a stroke setting method for an electric actuator according to an embodiment of the present invention is shown.

[0052] Figure 2 A schematic diagram of the stroke setting device for an electric actuator according to an embodiment of the present invention is shown. Detailed Implementation

[0053] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] like Figure 1 As shown, the method includes the following steps:

[0055] Step S101: When the electric actuator is in a state where it cannot be fully opened or closed, determine the first pulse value of the current valve position based on the current valve position data of the electric actuator, and set the first torque when the electric actuator is operating normally.

[0056] This solution is mainly for setting the stroke of an electric actuator when it is in a state where it cannot be fully open or fully closed. Since the electric actuator cannot be set when the following situations occur: (1) the internal main control board is damaged; (2) the feedback component is damaged; (3) the mechanical valve body is replaced, the stroke of the electric actuator will be unable to be set. Therefore, this solution needs to ensure that the electric actuator is in a state where it cannot be fully open or fully closed. The method for judging the state of the electric actuator will not be elaborated here.

[0057] Since intelligent electric actuators are mainly used in current industrial production, the positioner in these actuators records the current position by outputting pulse counts. Therefore, in this solution, the first pulse value of the current valve position is determined by the current valve position data of the electric actuator. The current position of the electric actuator can be identified by the first pulse value, and relevant parameters can be set at the same time, such as the first torque during normal operation and the dead zone of the electric actuator.

[0058] To determine the first pulse value of the current valve position, in some embodiments of this application, when the electric actuator is in a state that cannot be fully opened or fully closed, the first pulse value of the current valve position is determined based on the current valve position data of the electric actuator, specifically as follows:

[0059] Read the last valve position data in the electric actuator or manually adjust the valve position value to the current valve position;

[0060] Determine the pulse value corresponding to the last valve position data or the valve position value, and use the pulse value corresponding to the last valve position data or the valve position value as the first pulse value of the current valve position.

[0061] Specifically, the current valve position data is obtained by reading the last valve position data of the electric actuator or by manually adjusting the valve to the current position. The last valve position data can be obtained from the control terminal or control software of the electric actuator. Alternatively, the current valve position data can be obtained by manually adjusting the electric actuator to the current position and reading the valve position value at the current position.

[0062] Step S102: Upon receiving the opening direction command, control the opening position end of the electric actuator, determine the second pulse value corresponding to the opening position end, and set the second torque corresponding to the opening direction.

[0063] In this embodiment, an opening direction command is issued to the electric actuator. After receiving the opening direction command, the electric actuator controls the valve to open in the opening direction until the electric actuator reaches the end of the valve's open position. The second pulsation value corresponding to the end of the open position is set, and a second torque corresponding to the opening direction is set. The second torque is greater than the first torque. This second torque is used to perform the opening action with a higher second torque than the first torque when the electric actuator reaches the end of the opening direction, so as to prevent leakage.

[0064] In order to determine the value of the second pulse corresponding to the end of the open position, in some embodiments of this application, upon receiving an open direction command, the open position end of the electric actuator is controlled to determine the value of the second pulse corresponding to the end of the open position, and a second torque corresponding to the open direction is set, specifically as follows:

[0065] When the opening direction command is received, the opening direction action is executed, and after the opening direction action is completed, it is determined whether the electric actuator has reached the end of the opening direction.

[0066] If so, then set the second torque;

[0067] If not, manually adjust the electric actuator to the open end and set the second torque.

[0068] In this embodiment, when the electric actuator receives the opening direction command, it performs the opening direction action. After the opening direction action is completed, it is detected whether the electric actuator has reached the end of the opening direction. If it has reached the end of the opening direction, the second pulse value corresponding to the end of the opening direction is recorded and the second torque is set. If it has not reached the end of the opening direction, the electric actuator is manually adjusted to the end of the opening direction, the second pulse value corresponding to the end of the opening direction is recorded, and the second torque is set.

[0069] Step S103: Upon receiving the closing direction command, control the closing position end of the electric actuator, determine the third pulse value corresponding to the closing position end, and set the third torque corresponding to the closing direction.

[0070] In this embodiment, a closing direction command is issued to the electric actuator. After receiving the closing direction command, the electric actuator controls the valve to perform a closing action until the electric actuator reaches the end of the valve's closed position. The third pulse value corresponding to the end of the closed position is set, and a third torque corresponding to the closing direction is set. The third torque is greater than the first torque. This third torque is used to perform the closing action with a higher third torque than the first torque when the electric actuator reaches the end of the closing direction, so as to prevent leakage.

[0071] In order to determine the value of the second pulse corresponding to the end of the closed position, in some embodiments of this application, upon receiving a closing direction command, the closing position end of the electric actuator is controlled to determine the value of the third pulse corresponding to the end of the closed position, and a third torque corresponding to the closing direction is set, specifically as follows:

[0072] When the closing direction command is received, the closing direction action is executed, and after the closing direction action is completed, it is determined whether the electric actuator has reached the end of the closing direction.

[0073] If so, then set the third torque;

[0074] If not, manually adjust the electric actuator to the off end and set the third torque.

[0075] In this embodiment, when the electric actuator receives the closing direction command, it performs the closing direction action. After the closing direction action is completed, it is detected whether the electric actuator has reached the end of the closing direction. If it has reached the end of the closing direction, the third pulse value corresponding to the end of the closing direction is recorded and the third torque is set. If it has not reached the end of the closing direction, the electric actuator is manually adjusted to the end of the closing direction, the third pulse value corresponding to the end of the closing direction is recorded, and the third torque is set.

[0076] To ensure the normal operation of the electric actuator, in some embodiments of this application, the method further includes:

[0077] When the electric actuator restarts, the electric actuator is controlled to start from the current valve position based on the first pulse value;

[0078] Based on the second pulse value and the third pulse value, it is determined whether the electric actuator is at the end of the open position or the end of the closed position;

[0079] When the electric actuator is in the open position, the second torque is used to open the electric actuator.

[0080] When the electric actuator is in the closed position, the third torque is used to close the electric actuator.

[0081] Specifically, after the stroke setting of the electric actuator is completed, when restarting the electric actuator, the electric actuator is controlled to start again from the current valve position according to the set first pulse value. The second and third pulse values ​​are used to detect whether the electric actuator has reached the end of the open or closed position. If the pulse value of the electric actuator is the second pulse value at this time, it means that the electric actuator has reached the end of the open position, and the electric actuator is opened by the second torque. Conversely, if the pulse value of the electric actuator is the third pulse value at this time, it means that the electric actuator has reached the end of the closed position, and the electric actuator is closed by the third torque. By using the above method, the operating position of the electric actuator can be determined by the pulse value, which ensures the stable operation of the electric actuator. At the same time, when the electric actuator reaches the end of the open or closed position, the opening and closing action is performed by the second or third torque, which is higher than the first torque during normal operation, to prevent leakage and improve the safety of industrial production.

[0082] By applying the above technical solution, when the electric actuator is in a state where it cannot be fully opened or fully closed, the first pulse value of the current valve position is determined based on the current valve position data of the electric actuator, and the first torque for normal operation of the electric actuator is set; upon receiving an opening direction command, the electric actuator is controlled at the opening position end, the second pulse value corresponding to the opening position end is determined, and the second torque corresponding to the opening direction is set; upon receiving a closing direction command, the electric actuator is controlled at the closing position end, the third pulse value corresponding to the closing position end is determined, and the third torque corresponding to the closing direction is set; wherein, the second torque and The third torque is greater than the first torque. Therefore, when any of the following problems occur in the electric actuator at the production site: (1) damage to the internal main control board; (2) damage to the feedback component; (3) replacement of the mechanical valve body, i.e., resetting the stroke, the electric actuator is precisely positioned using pulse values ​​in industrial settings where full open or full close is not possible. Data for the fully open and fully closed positions are derived, and after the first operation to the fully closed or fully open position after setting, an over-torque closing operation is automatically performed, ensuring the safe and stable operation of industrial production. Simultaneously, the opening or closing action is performed with a higher torque to prevent leakage.

[0083] To further explain the technology of this solution, we will now describe it in conjunction with a specific application scenario.

[0084] Step 1: Check if the electric actuator is in a state where it cannot be fully opened or fully closed. If so, proceed to Step 2.

[0085] Step 2: Determine the last valve position data of the electric actuator through the control terminal or software of the electric actuator, or manually adjust the valve of the electric actuator to the current valve position, record the current valve position value, and then execute Step 3.

[0086] Step 3: Determine the corresponding first pulse value based on the last determined valve position data or the valve position value. The first pulse value is the pulse value of the current valve position of the electric actuator, and then proceed to step 4.

[0087] Step 4: Set the operating parameters of the electric actuator, including the first torque and dead zone during normal operation, and then proceed to step 5.

[0088] Step 5: Receive the control command, and if the control command is an open direction command, execute Step 6; if the control command is a close direction command, execute Step 7.

[0089] Step 6: Adjust the electric actuator to the end position of the opening direction, record the second pulse value corresponding to the end of the opening direction, determine and set the second torque, the second torque is greater than the first torque, and execute step 8.

[0090] Step 7: Adjust the electric actuator to the end position in the closing direction, determine the third pulse value corresponding to the end position of the closing position, and set the third torque, which is greater than the first torque, and then execute step 8.

[0091] Step 8: Control the electric actuator to restart from the current valve position according to the value of the first pulse, and then execute step 9.

[0092] Step 9: Determine the position of the electric actuator. If the electric actuator reaches the open position, proceed to step 10. If the electric actuator reaches the closed position, proceed to step 11.

[0093] Step 10: Start the electric actuator by applying the second torque.

[0094] Step 11: The electric actuator is closed by applying a third torque.

[0095] This application also proposes a stroke setting device for an electric actuator, such as... Figure 2 As shown, the device includes:

[0096] The determining module 10 is used to determine the first pulse value of the current valve position based on the current valve position data of the electric actuator when the electric actuator is in a state where it cannot be fully opened or closed, and to set the first torque when the electric actuator is operating normally.

[0097] The first control module 20 is used to control the open position end of the electric actuator when it receives the open direction command, determine the second pulse value corresponding to the open position end, and set the second torque corresponding to the open direction.

[0098] The second control module 30 is used to control the end of the electric actuator at the closed position when a closing direction command is received, determine the value of the third pulse corresponding to the end of the closed position, and set the third torque corresponding to the closing direction.

[0099] In specific application scenarios, the device also includes:

[0100] The start-up module is used to control the electric actuator to start from the current valve position based on the first pulse value after the electric actuator is restarted.

[0101] The judgment module is used to determine whether the electric actuator is at the end of the open position or the end of the closed position based on the second pulse value and the third pulse value;

[0102] The opening action execution module is used to perform an opening action on the electric actuator by means of the second torque when the electric actuator is in the open position end.

[0103] The closing action execution module is used to perform a closing action on the electric actuator by means of the third torque when the electric actuator is in the closed position.

[0104] In specific application scenarios, the determining module is specifically used for:

[0105] Read the last valve position data in the electric actuator or manually adjust the valve position value to the current valve position;

[0106] Determine the pulse value corresponding to the last valve position data or the valve position value, and use the pulse value corresponding to the last valve position data or the valve position value as the first pulse value of the current valve position.

[0107] In specific application scenarios, the first control module is specifically used for:

[0108] When the opening direction command is received, the opening direction action is executed, and after the opening direction action is completed, it is determined whether the electric actuator has reached the end of the opening direction.

[0109] If so, then set the second torque;

[0110] If not, manually adjust the electric actuator to the open end and set the second torque.

[0111] In specific application scenarios, the second control module is specifically used for:

[0112] When the closing direction command is received, the closing direction action is executed, and after the closing direction action is completed, it is determined whether the electric actuator has reached the end of the closing direction.

[0113] If so, then set the third torque;

[0114] If not, manually adjust the electric actuator to the off end and set the third torque.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for setting the stroke of an electric actuator, characterized in that, The method includes: When the electric actuator is in a state where it cannot be fully opened or fully closed, the first pulse value of the current valve position is determined based on the current valve position data of the electric actuator. Specifically, this includes: reading the last valve position data in the electric actuator or manually adjusting the valve position value to the current valve position; determining the pulse value corresponding to the last valve position data or the valve position value, and using the pulse value corresponding to the last valve position data or the valve position value as the first pulse value of the current valve position. Set the first torque for the electric actuator during normal operation; Upon receiving an opening direction command, the electric actuator is controlled to open at its end position. The second pulse value corresponding to the opening position end is determined, and a second torque corresponding to the opening direction is set. Specifically, this includes: when the opening direction command is received, an opening direction action is executed, and after the opening direction action is completed, it is determined whether the electric actuator has reached the opening direction end; if yes, the second torque is set; if no, the electric actuator is manually adjusted to the opening direction end, and the second torque is set. Upon receiving a closing direction command, the electric actuator is controlled to reach the closing position end, the third pulse value corresponding to the closing position end is determined, and the third torque corresponding to the closing direction is set. Specifically, this includes: when the closing direction command is received, a closing direction action is executed, and after the closing direction action is completed, it is determined whether the electric actuator has reached the closing direction end; if yes, the third torque is set; if no, the electric actuator is manually adjusted to the closing direction end, and the third torque is set. When the electric actuator restarts, the electric actuator is controlled to start from the current valve position based on the first pulse value; Based on the second pulse value and the third pulse value, it is determined whether the electric actuator is at the end of the open position or the end of the closed position; When the electric actuator is in the open position, the second torque is used to open the electric actuator. When the electric actuator is in the closed position, the third torque is used to close the electric actuator. The second torque and the third torque are both greater than the first torque.

2. A stroke setting device for an electric actuator, characterized in that, The device includes: The determination module is used to determine the first pulse value of the current valve position based on the current valve position data of the electric actuator when the electric actuator is in a state where it cannot be fully opened or fully closed. Specifically, this includes: reading the last valve position data in the electric actuator or manually adjusting the valve position value to the current valve position; determining the pulse value corresponding to the last valve position data or the valve position value, and using the pulse value corresponding to the last valve position data or the valve position value as the first pulse value of the current valve position; and setting the first torque of the electric actuator during normal operation. The first control module is used to control the open position end of the electric actuator when receiving the open direction command, determine the second pulse value corresponding to the open position end, and set the second torque corresponding to the open direction. Specifically, it includes: when receiving the open direction command, executing the open direction action, and after the open direction action is completed, determining whether the electric actuator has reached the open direction end; if yes, then setting the second torque; if no, then manually adjusting the electric actuator to the open direction end and setting the second torque. The second control module is used to control the closed position end of the electric actuator when a closed direction command is received, determine the third pulse value corresponding to the closed position end, and set the third torque corresponding to the closed direction. Specifically, it includes: when the closed direction command is received, executing a closed direction action, and after the closed direction action is completed, determining whether the electric actuator has reached the closed direction end; if yes, setting the third torque; if no, manually adjusting the electric actuator to the closed direction end and setting the third torque; when the electric actuator restarts, controlling the electric actuator to start from the current valve position based on the first pulse value; determining whether the electric actuator is at the open or closed position end based on the second pulse value and the third pulse value; when the electric actuator is at the open position end, performing an opening action on the electric actuator through the second torque; when the electric actuator is at the closed position end, performing a closing action on the electric actuator through the third torque; wherein, the second torque and the third torque are both greater than the first torque.

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