A debugging method for the basic error of an electric actuator

Abstract

The present invention provides a debugging method for the basic error of an electric actuator, comprising the following steps: 1) obtaining the initial value of the basic error; 2) judging the initial value of the basic error; 3) calculating the adjustment stroke and the initial adjustment time; 4) determining the adjustment operation time; 5) calculating the optimal adjustment time. The present invention first calculates the initial value of the basic error δ0, obtains the adjustment stroke S n , the initial adjustment time t0, then introduces the operation adjustment stroke factor △s and the operation adjustment time factor △t to correct the adjustment stroke S n and the operation adjustment time T m , and finally determines the adjustment time T m to ensure that the basic error value always meets the technical requirements; through the average filtering method, multiple positions are selected to obtain the optimal value of the operation adjustment time. This method can ensure that after long-term operation of the electric actuator, the basic error still meets the requirements during its full stroke, so that the electric actuator can guarantee the adjustment accuracy of the user system throughout its entire life cycle.

Description

Technical Field

[0001] The invention relates to the technical field of electric actuators, and in particular to a method for debugging basic errors of electric actuators. Background Art

[0002] In the field of industrial control, such as chemical, petrochemical, water and other industries, the temperature, pressure, flow and other properties of the fluid in the pipeline need to be precisely controlled according to the established logic, and various forms of adjustment and control such as intermittent, continuous and cyclic adjustment and control need to be implemented on the regulating electric actuator. In actual operation, the electric actuator will always have deviations in its initial value after a period of operation, both theoretically and practically, that is, the basic error of the equipment itself. The basic error refers to the difference between the actual stroke and the theoretical stroke when the electric actuator is in action. Therefore, in order to achieve the purpose of precise control, the basic error of the electric actuator needs to be controlled within a certain range.

[0003] The stroke of the partial rotary electric actuator is short, the full stroke is 90°, and the running time is short, generally 15S. The conventional method of controlling the basic error of the rotary electric actuator in the prior art is the braking method, that is, the basic error accuracy of the rotary electric actuator is controlled by friction braking.

[0004] However, this mode has the following technical problems in actual use: the braking performance of each motor brake is inconsistent, and it is inevitable that the braking performance of a motor brake is weak. After long-term operation and wear, its braking performance decreases or even disappears, which eventually leads to an increase in its basic error and failure to meet standard requirements. Even for batch products, different basic errors will exist when running in different environments.

[0005] The basic error of the electric actuator exceeds the range during its entire life cycle. The general solution is to replace the motor brake or directly replace the electric actuator, which is costly and will affect daily production progress.

[0006] Therefore, implementing simple and efficient debugging measures for basic errors during the operation of electric actuators has become a technical problem that needs to be solved urgently in this field. Summary of the invention

[0007] In view of the above technical problems, the present invention provides a convenient, fast, accurate, reliable and high-precision debugging method for the basic error of an electric actuator.

[0008] The technical solution of the present invention is: a method for debugging the basic error of an electric actuator, comprising the following steps:

[0009] 1) Obtain the initial value of the basic error δ 0

[0010] Taking the 0-degree point as a reference, select an initial position within the stroke of the electric actuator, rotate the output shaft of the electric actuator to this position, and calculate the initial value of the basic error δ 0 ;

[0011] Initial value of basic error δ 0 Calculation formula: δ 0 =(L a0 -L b0 ) / L*100%;

[0012] Where: L a0 is the measured value of the initial output shaft stroke, in degrees; L b0 is the agreed value of the initial output shaft stroke, in degrees; L is the rated stroke of the output shaft, in degrees;

[0013] 2) Judgment of the initial value of the basic error

[0014] 2.1), If δ p ≤δ 0 ≤δ q , it is judged as qualified, return to step 1) to select a new initial position and recalculate the initial value of the basic error δ 0 ;

[0015] 2.2), If δ 0 >δ q or δ 0 <δ p , then go to step 3);

[0016] 3) Calculate the adjustment stroke and the initial adjustment time

[0017] Let the adjustment stroke be S n , the update times of the adjustment stroke be n, n is 0, 1, 2..., n max , where n max is the maximum update times of the adjustment stroke, 4≤n max ≤8;

[0018] 3.1) When n = 0, the adjustment stroke is the initial adjustment stroke, that is, S n =S 0 =X*δ 0 *L, where X is the adjustment coefficient, 0.5≤X≤3, calculate the initial adjustment time t 0 =S 0 / V;

[0019] 3.2) When n is 1, 2..., 4, n max , the adjustment stroke S n =S (n-1) +n*△S, △S is the operating adjustment stroke compensation amount, △S = S0 / α, where α ∈ [5 - 12];

[0020] where V is the operating speed of the output shaft, in degrees per second;

[0021] After the calculation is completed, proceed to step 4);

[0022] If after updating to the n max th time, the adjusted error value still does not meet the requirements, replace the electric actuator;

[0023] 4) Determine the operating adjustment time

[0024] Let the number of operating adjustments be m, m is 1, 2..., m max , where m max is the maximum number of adjustments for the operating adjustment time, 5 ≤ m max ≤ 12. If after m max times, the adjusted error value still does not meet the requirements, return to step 3.2) to update the adjustment stroke S n ;

[0025] Among them, when m = 1, it is the first operating adjustment. At this time, the operating adjustment time T m = t 0 ;

[0026] When m is 2, 3..., m max , the operating adjustment time T m = T (m-1) ± Δt, Δt is the operating adjustment time factor, Δt is t 0 / β, where β ∈ [5 - 12];

[0027] 4.1) Select a new position,

[0028] If controlling the electric actuator to run in the closing direction relative to the previous time, proceed to step 4.1.1);

[0029] If controlling the electric actuator to run in the opening direction relative to the previous time, proceed to step 4.1.2);

[0030] 4.1.1) Let the measured value of the output shaft stroke this time be L am , in degrees, the agreed value of the output shaft stroke this time is L bm , in degrees. The electric actuator runs to L bm + S n and stops. At this time, perform the end adjustment operation, that is, run in the target direction for another T m duration;

[0031] After the operation ends, calculate and judge the basic error δ m , δ m=(L am -L bm ) / L * 100%;

[0032] If δ p ≤δ m ≤δ q , no further fine-tuning of the end operation adjustment is required, and the debugging is completed;

[0033] If δ m <δ p , then update the adjustment time T m =T (m-1) -Δt, return to step 4.1), and make a judgment again;

[0034] If δ m >δ q , then update the adjustment time T m =T (m-1) +Δt, return to step 4.1), and make a judgment again;

[0035] 4.1.2) Let the measured value of the output shaft stroke this time be L am , in degrees, and the agreed value of the output shaft stroke this time be L bm , in degrees. The electric actuator runs to L bm -S n and stops. At this time, perform the end adjustment operation, that is, run in the target direction for T m duration;

[0036] After the operation is completed, calculate and judge the basic error δ m , δ m =(L am -L bm ) / L * 100%;

[0037] If δ p ≤δ m ≤δ q , no further fine-tuning of the end operation adjustment is required, and the debugging is completed;

[0038] If δ m <δ p , then update the adjustment time T m =T (m-1) +Δt, return to step 4.1), and make a judgment again;

[0039] If δ m >δ q , then update the adjustment time T m =T (m-1) -Δt, return to step 4.1), and make a judgment again.

[0040] Preferably, in step 2.1), if all 5 times satisfy δ p ≤δ 0 ≤δ q , the program stops.

[0041] Preferably, in step 2), δ p ≤ -1%, and δ q ≥ 1%.

[0042] Preferably, it further includes step 5): performing optimal fitting calculation for the operation adjustment time;

[0043] Select multiple initial positions to obtain multiple values of the operation adjustment time, and use the median value average filtering method to obtain the optimal value of the operation adjustment time;

[0044] Specifically, continuously select R positions, 5 ≤ R ≤ 10, calculate the operation adjustment time, remove the maximum and minimum values, and then calculate the arithmetic mean of R - 2 data.

[0045] Preferably, in step 3.2), △S = S 0 / 10.

[0046] Preferably, in step 4), △t = t 0 / 10.

[0047] Preferably, in step 4), m max = 10.

[0048] Preferably, in step 3.2), n max = 5.

[0049] The beneficial effects of the present invention are:

[0050] (1) By first calculating the initial value of the basic error δ 0 , obtaining the modulation initial time t 0 , then introducing the adjustment time factor △t to correct the modulation initial time t 0 , and determining the operation adjustment time T m , the basic error value always meets the technical requirements;

[0051] (2) By using the average filtering method and selecting multiple positions, the optimal value of the operation adjustment time can be obtained.

[0052] This method can ensure that after the electric actuator runs for a long time, within its full stroke, the basic error still meets the requirements, so that the electric actuator can ensure the adjustment accuracy of the user system throughout its entire life cycle without replacing the motor brake or even the electric actuator. The maintenance is simple and reliable, and there is no need to increase the maintenance cost additionally. Description of the Drawings

[0053] Figure 1 is a schematic flow diagram of the method of the present invention,

[0054] Figure 2 is L 1 、L 0 、L, S 0 schematic diagram. Specific embodiments

[0055] Next, the technical solution of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the protection scope of the present invention.

[0056] See Figure 1 , this embodiment provides a debugging method for the basic error of an electric actuator, including the following steps:

[0057] 1) Obtain the initial value δ of the basic error 0

[0058] See Figure 2 , taking the 0-degree point as the reference, select an initial position within the stroke of the electric actuator, rotate the output shaft of the electric actuator to this position, and calculate the initial value δ of the basic error 0 ;

[0059] Initial value δ of the basic error 0 Calculation formula: δ 0 =(L a0 -L b0 ) / L*100%;

[0060] Where: L a0 is the measured value of the initial output shaft stroke, in degrees; L b0 is the agreed value of the initial output shaft stroke, in degrees; L is the rated stroke of the output shaft, in degrees;

[0061] By changing the magnitude of the input control signal, the stroke is changed. For example, the input control signal is a 4-20 mA signal, 4 mA corresponds to a stroke percentage of 0%, 20 mA corresponds to a stroke percentage of 100%, and the rated stroke of the output shaft is 90°, corresponding to a full stroke of 100%. This is a conventional technical principle in the art and will not be elaborated here.

[0062] 2) Judgment of the initial value of the basic error

[0063] 2.1), If δ p ≤δ 0 ≤δ q, it is judged as qualified, return to step 1) to select a new initial position and recalculate the initial value of the basic error δ at the new position. 0 ;

[0064] 2.2), if δ 0 > δ q or δ 0 < δ p , then go to step 3);

[0065] 3) Calculate the adjustment stroke and the initial adjustment time

[0066] Let the adjustment stroke be S n , the update times of the adjustment stroke be n, n is 0, 1, 2 ……, n max , where n max is the update times of the maximum adjustment stroke, 4 ≤ n max ≤ 8;

[0067] 3.1) When n = 0, the adjustment stroke is the initial adjustment stroke, that is, S n = S 0 = X * δ 0 * L, where X is the adjustment coefficient, 0.5 ≤ X ≤ 3, calculate the initial adjustment time t 0 = S 0 / V;

[0068] 3.2) When n is 1, 2 …… 4, n max , the adjustment stroke S n = S (n-1) + n * △S, △S is the running adjustment stroke compensation amount, △S = S 0 / α, where α ∈ [5 ~ 12]; At this time, because the adjustment range becomes larger, it is easier to adjust in place.

[0069] where V is the running speed of the output shaft, and the unit is degree / second;

[0070] After the calculation is completed, go to step 4);

[0071] If after updating to n max times, the error value obtained by the adjustment still does not meet the requirements, then replace the electric actuator;

[0072] 4) Determine the running adjustment time

[0073] Let the running adjustment times be m within the same adjustment stroke, m is 1, 2 ……, m max , where m max is the maximum adjustment times of the running adjustment time, 5 ≤ m max ≤ 12, if within m maxAfter that, if the adjusted error value still does not meet the requirements, return to step 3.2) to update the adjustment stroke S n ;

[0074] Among them, when m = 1, it is the first running adjustment. At this time, the running adjustment time T m = t 0 ;

[0075] When m is 2, 3..., m max the running adjustment time T m = T (m-1) ±△t, where △t is the running adjustment time factor, and △t is t 0 / β, where β ∈ [5 - 12];

[0076] 4.1) Select a new position,

[0077] If the electric actuator is controlled to run in the closing direction relative to the previous time, enter step 4.1.1);

[0078] If the electric actuator is controlled to run in the opening direction relative to the previous time, enter step 4.1.2);

[0079] 4.1.1) Let the measured value of the output shaft stroke this time be L am , in degrees, and the agreed value of the output shaft stroke this time is L bm , in degrees. The electric actuator runs to L bm +S n and stops. At this time, perform the end adjustment operation, that is, run in the target direction for another T m duration; for example, if the initial position is 45 degrees and L b1 is 30 degrees, the electric actuator runs to 30 + S n and stops, and then runs in the 30-degree direction for another T m duration;

[0080] After the operation ends, calculate and judge the basic error δ m , δ m =(L am -L bm ) / L * 100%;

[0081] If δ p ≤δ m ≤δ q , there is no need to perform fine-tuning of the end operation adjustment, and the debugging ends;

[0082] If δ m <δ p , then update the adjustment time T m = T (m-1) -△t, return to step 4.1), and make a judgment again;

[0083] If δ m > δ q , then update the adjustment time T m = T (m-1) + Δt, return to step 4.1), and make a judgment again;

[0084] 4.1.2) Let the measured value of the current output shaft stroke be L am , in degrees, and the agreed value of the current output shaft stroke be L bm , in degrees. The electric actuator runs to L bm - S n and stops. At this time, perform the end adjustment operation, that is, run in the target direction for T m duration; for example, if the initial position is 45 degrees and L b1 is 60 degrees, then the electric actuator runs to 60 - S n and stops, and then runs in the direction of 60 degrees for T m duration;

[0085] After the operation is completed, calculate and judge the basic error δ m , δ m = (L am - L bm ) / L * 100%;

[0086] If δ p ≤ δ m ≤ δ q , there is no need to perform fine adjustment of the end operation, and the debugging is completed;

[0087] If δ m < δ p , then update the adjustment time T m = T (m-1) + Δt, return to step 4.1), and make a judgment again;

[0088] If δ m > δ q , then update the adjustment time T m = T (m-1) - Δt, return to step 4.1), and make a judgment again.

[0089] In this embodiment, in step 2.1), if it is satisfied 5 times that δ p ≤ δ 0 ≤ δ q , then the program stops.

[0090] In this embodiment, in step 2), the δ p ≤ - 1%, and the δ q ≥ 1%.

[0091] In this embodiment, it further includes step 5): performing optimal fitting calculation of the operation adjustment time;

[0092] Select multiple initial positions to obtain multiple values of the operation adjustment time, and use the median value average filtering method to obtain the optimal value of the operation adjustment time;

[0093] Specifically, continuously select R positions, where 5 ≤ R ≤ 10, calculate the operation adjustment time, remove the maximum and minimum values, and then calculate the arithmetic average of R - 2 data.

[0094] This avoids the influence of randomly fluctuating data on the final result and makes the final data more accurate.

[0095] Operation Example 1

[0096] 1) Obtain the initial value of the basic error δ 0

[0097] Taking the 0-degree point as the reference, select an initial position within the stroke of the electric actuator, rotate the output shaft of the electric actuator to this position, and calculate the initial value of the basic error δ 0 ;

[0098] Initial value of the basic error δ 0 Calculation formula: δ 0 =(L a0 -L b0 ) / L * 100%;

[0099] Where: L a0 is the measured value of the initial output shaft stroke, in degrees; L b0 is the agreed value of the initial output shaft stroke, in degrees; L is the rated stroke of the output shaft, in degrees;

[0100] 2) Judgment of the initial value of the basic error

[0101] 2.1) If -1% ≤ δ 0 ≤ 1%, it is judged as qualified, return to step 1) to select a new initial position and recalculate the initial value of the basic error δ 0 , if it satisfies -1% ≤ δ 0 ≤ 1% for 5 times, the program stops;

[0102] 2.2) If δ 0 > 1% or δ 0 < -1%, then go to step 3);

[0103] 3) Calculate the adjustment stroke and the initial adjustment time

[0104] Let the adjustment stroke be S n , the maximum update times of the adjustment stroke is 5,

[0105] 3.1) When n = 0, the adjustment stroke is the initial adjustment stroke, i.e., S n = S 0 = 2 * δ 0 * L, where X is the adjustment coefficient, and the initial adjustment time t is calculated under the initial adjustment stroke 0 = S 0 / V;

[0106] 3.2) When n is 1, 2... 4, 5, the adjustment stroke S n = S (n-1) + n * △S, where △S is the operating adjustment stroke compensation amount, and △S = S 0 / 10;

[0107] where V is the operating speed of the output shaft, with the unit of degree / second;

[0108] After the calculation is completed, proceed to step 4);

[0109] If the error value obtained after adjustment still does not meet the requirements after updating 5 times, replace the electric actuator;

[0110] 4) Determine the operating adjustment time

[0111] Suppose within the same adjustment stroke, the number of operating adjustments is m, and m is 1, 2..., 10. If the error value obtained after adjustment still does not meet the requirements after 10 times, return to step 3.2) to update the adjustment stroke S n ;

[0112] Among them, when m = 1, it is the first operating adjustment. At this time, the operating adjustment time T m = t 0 ;

[0113] When m is 2, 3..., 10, the operating adjustment time T m = T (m-1) ± △t, where △t is the operating adjustment time factor, and △t is t 0 / 10;

[0114] 4.1) Select a new position,

[0115] If controlling the electric actuator to run in the closing direction relative to the previous time, enter step 4.1.1);

[0116] If controlling the electric actuator to run in the opening direction relative to the previous time, enter step 4.1.2);

[0117] 4.1.1) Let the measured value of the output shaft stroke this time be L am , with the unit of degree, and the agreed value of the output shaft stroke this time is L bm, in degrees, the electric actuator runs to L bm +S n and stops. At this time, perform the end adjustment operation, that is, run in the target direction for another T m duration;

[0118] After the operation is completed, calculate and judge the basic error δ m , δ m =(L am -L bm ) / L*100%;

[0119] If -1% ≤ δ m ≤ -1% ， There is no need to perform fine-tuning of the end operation adjustment, and the debugging is completed;

[0120] If δ m < -1%, then update the adjustment time T m =T (m-1) -△t, return to step 4.1), and judge again;

[0121] If δ m > -1%, then update the adjustment time T m =T (m-1) +△t, return to step 4.1), and judge again;

[0122] 4.1.2) Let the measured value of the output shaft stroke this time be L am , in degrees, the agreed value of the output shaft stroke this time is L bm , in degrees, the electric actuator runs to L bm -S n and stops. At this time, perform the end adjustment operation, that is, run in the target direction for another T m duration;

[0123] After the operation is completed, calculate and judge the basic error δ m , δ m =(L am -L bm ) / L*100%;

[0124] If -1% ≤ δ m ≤ -1%, there is no need to perform fine-tuning of the end operation adjustment, and the debugging is completed;

[0125] If δ m < -1%, then update the adjustment time T m =T (m-1) +△t, return to step 4.1), and judge again;

[0126] If δ m > -1%, then update the adjustment time Tm = T (m-1) - △t, return to step 4.1), and then make a judgment.

[0127] 5): Run the optimal fitting calculation of the adjustment time;

[0128] Select multiple initial positions to obtain multiple values of the running adjustment time, and use the median value average filtering method to obtain the optimal value of the running adjustment time;

[0129] Specifically, continuously select 5 positions, calculate the final running adjustment time, remove the maximum and minimum values, and then calculate the arithmetic mean of the remaining 3 data.

[0130] Running example 2

[0131] 1) Obtain the initial value δ of the basic error 0

[0132] Taking the 0-degree point as the reference, select an initial position within the stroke of the electric actuator, rotate the output shaft of the electric actuator to this position, and calculate the initial value δ of the basic error 0 ;

[0133] Initial value δ of the basic error 0 Calculation formula: δ 0 = (L a0 - L b0 ) / L * 100%;

[0134] Where: L a0 is the measured value of the initial output shaft stroke, in degrees; L b0 is the agreed value of the initial output shaft stroke, in degrees; L is the rated stroke of the output shaft, in degrees;

[0135] 2) Judgment of the initial value of the basic error

[0136] 2.1), if -1% ≤ δ 0 ≤ 1%, it is judged as qualified, return to step 1) to select a new initial position and recalculate the initial value δ of the basic error at the new position 0 , if all 5 times satisfy -1% ≤ δ 0 ≤ 1%, the program stops;

[0137] 2.2), if δ 0 > 1% or δ 0 < -1%, then go to step 3);

[0138] 3) Calculate the adjustment stroke and the initial adjustment time

[0139] Let the adjustment stroke be S n , the maximum update times of the adjustment stroke is 6,

[0140] 3.1) When n = 0, the adjustment stroke is the initial adjustment stroke, i.e., S n = S 0 = 0.5 * δ 0 * L, where X is the adjustment coefficient, and the initial adjustment time t is calculated under the initial adjustment stroke 0 = S 0 / V;

[0141] 3.2) When n is 1, 2……4, 6, the adjustment stroke S n = S (n-1) + n * △S, where △S is the operation adjustment stroke compensation amount, and △S = S 0 / 10;

[0142] where V is the running speed of the output shaft, with the unit of degree / second;

[0143] After the calculation is completed, go to step 4);

[0144] If the error value obtained after adjustment still does not meet the requirements after 8 updates, replace the electric actuator;

[0145] 4) Determine the operation adjustment time

[0146] Suppose within the same adjustment stroke, the number of operation adjustments is m, and m is 1, 2……, 10. If the error value obtained after adjustment still does not meet the requirements after 10 times, return to step 3.2) to update the adjustment stroke S n ;

[0147] Among them, when m = 1, it is the first operation adjustment. At this time, the operation adjustment time T m = t 0 ;

[0148] When m is 2, 3……, 10, the operation adjustment time T m = T (m-1) ± △t, where △t is the operation adjustment time factor, and △t is t 0 / 12;

[0149] 4.1) Select a new position,

[0150] If controlling the electric actuator to run in the closing direction relative to the previous time, enter step 4.1.1);

[0151] If controlling the electric actuator to run in the opening direction relative to the previous time, enter step 4.1.2);

[0152] 4.1.1) Suppose the measured value of the output shaft stroke this time is L am , with the unit of degree, and the agreed value of the output shaft stroke this time is L bm , with the unit of degree, and the electric actuator runs to Lbm +S n Stop at this point, and then perform the end adjustment operation, that is, run in the target direction for another T m duration;

[0153] After the operation ends, calculate and judge the basic error δ m , δ m =(L am -L bm ) / L*100%;

[0154] If -1%≤δ m ≤-1% ， There is no need to perform fine-tuning of the end operation adjustment, and the debugging is over;

[0155] If δ m <-1%, then update the adjustment time T m =T (m-1) -△t, return to step 4.1), and then make a judgment;

[0156] If δ m >-1%, then update the adjustment time T m =T (m-1) +△t, return to step 4.1), and then make a judgment;

[0157] 4.1.2) Let the measured value of the output shaft stroke this time be L am , in degrees, and the agreed value of the output shaft stroke this time is L bm , in degrees. The electric actuator runs to L bm -S n Stop at this point, and then perform the end adjustment operation, that is, run in the target direction for another T m duration;

[0158] After the operation ends, calculate and judge the basic error δ m , δ m =(L am -L bm ) / L*100%;

[0159] If -1%≤δ m ≤-1%, there is no need to perform fine-tuning of the end operation adjustment, and the debugging is over;

[0160] If δ m <-1%, then update the adjustment time T m =T (m-1) +△t, return to step 4.1), and then make a judgment;

[0161] If δ m >-1%, then update the adjustment time T m =T (m-1)-△t, return to step 4.1) and make a judgment again.

[0162] 5): Run the optimal fitting calculation of the adjustment time;

[0163] Select multiple initial positions, obtain multiple values of the running adjustment time, and use the median average filtering method to obtain the optimal value of the running adjustment time;

[0164] Specifically, continuously select 6 positions, calculate the final running adjustment time, remove the maximum and minimum values, and then calculate the arithmetic average of the remaining 4 data.

[0165] In the present invention, after selecting the initial position to calculate the initial value δ of the basic error 0 for δ 0 make a judgment. If the basic error cannot meet the requirements, first calculate the adjustment stroke and the initial adjustment time. Select a new position again, perform the end adjustment operation according to the adjustment time of the first time. After stabilization, judge the modulated basic error. When the basic error meets the requirements, there is no need to fine-tune the running adjustment time. When the basic error cannot meet the requirements, increase the running adjustment time factor △t and fine-tune the running adjustment time. Each time the basic error calibration fails to meet the requirements, iterate the running adjustment time factor △t. When the number of times of modulating the running adjustment time exceeds the agreed standard value, increase the starting stroke compensation amount △s and update the adjustment stroke S n and re-select a new position to determine the running adjustment time.

[0166] Finally, through the average filtering method, select multiple positions to obtain the optimal value of the adjusted running time until the basic error meets the requirements. Therefore, selecting the adjustment stroke and the running adjustment time is the key of the present invention.

[0167] The present invention is applicable to electric actuators in the field of specific industrial process control, such as application scenarios where the medium such as temperature, pressure, and flow in the pipeline needs to be accurately regulated according to a fixed logic.

[0168] This method can ensure that the basic error of the electric actuator still meets the requirements after long-term operation, so that the electric actuator can ensure the adjustment accuracy of the user system throughout its life cycle.

[0169] The present invention is not limited to the above embodiments. Based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and deformations to some technical features without creative labor according to the disclosed technical content, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. A method for debugging the basic error of an electric actuator, characterized in that: The following steps are involved: 1) Obtain the initial value of the basic error δ0 Taking the 0 degree point as the reference, select an initial position within the stroke of the electric actuator, rotate the output shaft of the electric actuator to this position, and calculate the initial value of the basic error δ0; The calculation formula of the initial value of basic error δ0 is: δ0=(L a0 -L b0 ) / L*100%; Where: L a0 is the measured value of the initial output shaft stroke, in degrees; L b0 is the agreed value of the initial output shaft stroke, in degrees; L is the rated stroke of the output shaft, in degrees; 2) Determination of the initial value of basic error 2.1) If δ p ≤δ0≤δ q , it is judged as qualified, and returns to step 1) to select a new initial position and recalculate the basic error initial value δ0 of the new position; 2.2) If δ0>δ q Or δ0<δ p , then go to step 3); 3) Calculate the adjustment stroke and initial adjustment time Assume the adjustment stroke is S n , adjust the update times of the itinerary to n, where n is 0, 1, 2, ..., n max , where n max To adjust the maximum number of updates for the trip, 4≤n max ≤8; 3.1) When n=0, the adjustment stroke is the initial adjustment stroke, that is, S n =S0=X*δ0*L, where X is the adjustment coefficient, 0.5≤X≤3, and the initial adjustment time t0=S0 / V is calculated under the initial adjustment stroke; 3.2)n is 1, 2, ..., 4, n max When adjusting the stroke S n =S (n-1) +n*△S, △S is the running adjustment stroke compensation, △S=S0 / α, where α∈[5~12]; Where V is the output shaft running speed, in degrees per second; After the calculation is completed, go to step 4); If you update to n max If the error value after adjustment still does not meet the requirements, replace the electric actuator; 4) Determine the operation adjustment time Assume that the number of operation adjustments is m, where m is 1, 2, ..., m max , where m max The maximum number of times the operation adjustment time is adjusted, 5≤m max ≤12, if in m max After the adjustment, if the error value still does not meet the requirement, return to step 3.2) and update the adjustment stroke S n ; When m=1, it is the first operation adjustment. At this time, the operation adjustment time is T m =t0; m is 2, 3, ..., m max Operation adjustment time T m =T (m-1) ±△t, △t is the operation adjustment time factor, △t is t0 / β, where β∈[5~12]; 4.1) Select a new location, If the electric actuator is controlled to run in the closing direction relative to the last time, go to step 4.1.1); If the electric actuator is controlled to run in the open direction relative to the last time, go to step 4.1.2); 4.1.1) Assume that the actual measured value of the output shaft stroke is L am , the unit is degree, the output shaft stroke is L bm , the unit is degree, the electric actuator runs to L bm +S n Stop at the point where the end adjustment operation is performed, that is, run in the target direction again T m Duration; After the operation is completed, calculate and judge the basic error δ at this time m , δ m =(L am -L bm ) / L*100%; If δ p ≤δ m ≤δ q， No more terminal operation adjustment or fine-tuning is required, and debugging is complete; If δ m <δ p , then update the adjustment time T m =T (m-1) -△t, return to step 4.1) and make another judgment; If δ m >δ q , then update the adjustment time T m =T (m-1) +△t, return to step 4.1) and make another judgment; 4.1.2) Assume that the actual measured value of the output shaft stroke is L am , the unit is degree, the output shaft stroke is L bm , the unit is degree, the electric actuator runs to L bm -S n Stop at the point where the end adjustment operation is performed, that is, run in the target direction again T m Duration; After the operation is completed, calculate and judge the basic error δ at this time m , δ m =(L am -L bm ) / L*100%; If δ p ≤δ m ≤δ q , no further terminal operation adjustment or fine-tuning is required, and the debugging is completed; If δ m <δ p , then update the adjustment time T m =T (m-1) +△t, return to step 4.1) and make another judgment; If δ m >δ q , then update the adjustment time T m =T (m-1) -△t, return to step 4.1) and make another judgment; 5) Run the best fit calculation for adjustment time; Select multiple initial positions to obtain multiple values ​​of operation adjustment time, and use the median average filtering method to obtain the optimal value of the operation adjustment time; Specifically, R positions are selected continuously, 5≤R≤10, the operation adjustment time is calculated, the maximum value and the minimum value are removed, and then the arithmetic mean of R-2 data is calculated.

2. The method for debugging the basic error of an electric actuator according to claim 1, characterized in that In step 2.1), if all 5 times satisfy δ p ≤δ0≤δ q , the program stops.

3. The method for debugging the basic error of an electric actuator according to claim 1 or 2, characterized in that: In the step 2), the δ p ≤-1%, the δ q ≥1%.

4. The method for debugging basic errors of electric actuators according to claim 1 is characterized in that: In step 3.2), ΔS=S0 / 10.

5. The method for debugging basic error of electric actuator according to claim 1, characterized in that: In step 4), Δt=t0 / 10.

6. The method for debugging basic errors of electric actuators according to claim 1, characterized in that: In step 4), the m max =10.

7. The method for debugging basic errors of electric actuators according to claim 1, characterized in that: In step 3.2), the n max =5.

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