Valve torque testing method and device

Abstract

The invention discloses a valve torque testing method and device, and the method comprises a valve zero-setting testing step which is carried out through preset control parameters, and a valve opening testing step and a valve closing testing step which are carried out after the valve zero-setting testing step, and the preset control parameters comprise current limitation and rotating speed; the valve zero setting test step comprises the following sub-steps that a first preset control parameter is used for controlling a test motor to carry out zero setting on a valve in advance, and then a second preset control parameter is used for controlling the test motor to carry out forced zero setting on the valve; and the valve position after the strong zero setting is used as the zero point position of the test motor encoder. According to the method, through two times of closing operation, the idle stroke + rotational inertia (first closing) and current / torque control (second closing) are considered respectively, the precision of the zero position of the valve can be remarkably improved, and a good foundation is laid for follow-up valve opening tests and valve closing tests.

Description

Technical Field

[0001] The present invention relates to the field of valve testing, and in particular to a valve torque testing method and device. Background Art

[0002] Valve torque test is to measure the torque value required by the valve during opening or closing by special equipment, and evaluate the valve's torsional strength, torque stiffness, static torsional strength and other performance parameters. Its purpose is to ensure that the valve can meet the design requirements and use standards, and prevent valve damage or leakage caused by excessive or insufficient torque.

[0003] The main equipment for valve torque testing is the valve torque tester. This equipment has the characteristics of high-precision measurement, versatility, automatic control, safety and reliability, and easy operation. Its technical parameters may vary depending on different brands and models, but generally include the following: Measurement range: The torque measurement range is usually customized according to specific needs, and can cover from a few Newton meters to tens of thousands of Newton meters. Measurement accuracy: High-precision torque sensors and measurement and control systems ensure the accuracy of the measurement results, and the general error is within ±1%. Test speed: The test speed can be adjusted as needed to meet different test requirements. Drive mode: Common drive modes include hydraulic motors, electric motors, etc., which drive the valve to open and close through a reducer.

[0004] In the process of valve testing, the zeroing step is particularly critical. The valve may move from any position to the closed state (i.e., the zero position). Therefore, if the zero position is inaccurate, the subsequent valve test data will be inaccurate. Therefore, providing a valve torque test method that takes into account the influence of idle stroke and rotational inertia is an urgent problem to be solved in this field. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a valve torque testing method and device.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] A first aspect of the present invention provides a valve torque test method, comprising a valve zeroing test step performed using preset control parameters, and a valve opening test step and a valve closing test step located after the valve zeroing test step, wherein the preset control parameters include current limit and rotation speed;

[0008] The valve zeroing test step includes the following sub-steps:

[0009] Using the first preset control parameter to control the test motor to preset the valve to zero, and then using the second preset control parameter to control the test motor to force the valve to zero;

[0010] The valve position after forced zeroing is used as the zero position of the test motor encoder;

[0011] Among them, in the first preset control parameters, the current limiting range is the first current limiting range, and the speed range is the first speed range; in the second preset control parameters, the current limiting range is the second current limiting range, and the speed range is the second speed range; the first current limiting range is smaller than the second current limiting range, and the first speed range is smaller than the second speed range.

[0012] Furthermore, the valve opening test step includes the following sub-steps:

[0013] Using the third preset control parameter to control the test motor to open the valve at the zero position to a corresponding position angle;

[0014] Whether the valve opening test is successful is determined by determining whether the actual position angle read by the sensor is the same as the corresponding position angle.

[0015] Further, in the third preset control parameter, the current limiting range is a third current limiting range, and the speed range is a third speed range; the third current limiting range is greater than the second current limiting range, and the third speed range is greater than the first speed range.

[0016] Further, the third speed range is the same as the second speed range.

[0017] Further, in the valve opening test step, when it is first determined that the actual position angle read by the sensor is different from the corresponding position angle, the valve opening control is performed again and then the determination is made again.

[0018] Furthermore, the valve closing test step includes the following sub-steps:

[0019] Using the fourth preset control parameter to control the test motor to pre-close the valve in the open state, so that the valve rotates to a pre-closing position having a first angle range with the zero position;

[0020] Using the fifth preset control parameter to control the test motor to finely close the valve at the pre-closing position, and rotate the valve to the zero position;

[0021] The sensor determines whether the actual position angle read and the corresponding position angle are within the second angle range of the zero position, so as to determine whether the valve closing test is successful;

[0022] Among them, in the fourth preset control parameter, the current limiting range is the fourth current limiting range, and the speed range is the fourth speed range; in the fifth preset control parameter, the current limiting range is the fifth current limiting range, and the speed range is the fifth speed range; the fourth current limiting range is greater than the second current limiting range, and the fourth speed range is greater than the first speed range; the fifth current limiting range is greater than the first current limiting range, and the fifth speed range is greater than the first speed range.

[0023] Further, the fourth speed range is the same as the second speed range, and the fifth speed range is the same as the second speed range.

[0024] Furthermore, in the valve closing test step, when the angle position of the pre-closing does not satisfy the first angle range of the zero position, the pre-closing is executed again; when the angle position of the fine closing does not satisfy the second angle range of the zero position, the fine closing is executed again and the judgment is made again.

[0025] Furthermore, the first angle range is within the range of plus or minus five degrees; the second angle range is within the range of plus or minus one degree.

[0026] Furthermore, the preset control parameters also include acceleration, deceleration, KP, KI, and KD, and the acceleration, deceleration, KP, KI, and KD remain consistent during the control process.

[0027] A second aspect of the present invention provides a valve torque testing device, comprising a storage unit and a processing unit, wherein the storage unit stores computer instructions that can be executed on the processing unit, and the processing unit executes the steps of the method described in the first aspect when executing the computer instructions.

[0028] The beneficial effects of the present invention are:

[0029] In this exemplary embodiment, in the valve zeroing test step of the valve torque testing method, two closing operations are performed, respectively taking into account the idle stroke + moment of inertia (first closing) and current / torque control (second closing), which can significantly improve the accuracy of the valve zero position and lay a good foundation for subsequent valve opening test and valve closing test. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A flow chart of a valve torque testing method provided in an exemplary embodiment of the present invention;

[0031] Figure 2 A flow chart of valve zeroing test steps of a valve torque testing method provided in an exemplary embodiment of the present invention;

[0032] Figure 3A flow chart of valve opening test steps of a valve torque test method provided in an exemplary embodiment of the present invention;

[0033] Figure 4 The present invention is a flowchart of valve closing test steps of a valve torque testing method provided in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. 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 are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be noted that the directions or positional relationships indicated by "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are directions or positional relationships based on the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0038] See also Figure 1 , Figure 1 A valve torque test method provided in an exemplary embodiment of the present invention is shown, comprising a valve zeroing test step performed using preset control parameters, and a valve opening test step and a valve closing test step located after the valve zeroing test step, wherein the preset control parameters include current limit and rotation speed;

[0039] like Figure 2 As shown, the valve zeroing test step includes the following sub-steps:

[0040] Using the first preset control parameter to control the test motor to preset the valve to zero, and then using the second preset control parameter to control the test motor to force the valve to zero;

[0041] The valve position after forced zeroing is used as the zero position of the test motor encoder;

[0042] Among them, in the first preset control parameters, the current limiting range is the first current limiting range, and the speed range is the first speed range; in the second preset control parameters, the current limiting range is the second current limiting range, and the speed range is the second speed range; the first current limiting range is smaller than the second current limiting range, and the first speed range is smaller than the second speed range.

[0043] First, the overall valve torque test equipment is described: the valve is installed on the valve seat of the test frame with a test motor, and the rotor of the test motor is connected to the rotating screw of the valve. The rotation of the rotor drives the valve stem to rotate, thereby opening and closing the valve. The valve seat is installed on a torque sensor for detecting torque. When the valve seat of the valve is subjected to the torque transmitted by the valve stem of the valve, the torque sensor receives the torque and sends it to the controller through the data line. The controller is also used to control the motor. It should be noted that the controller can be connected to an industrial computer or can be controlled as an integrated unit. The testing method in this exemplary embodiment can be applied to an industrial computer or to an integrated control device, and can be selected according to actual needs.

[0044] Specifically, compared with the direct zeroing in the prior art, in this exemplary embodiment, a two-step zeroing procedure is adopted: after power-on, the valve is pre-closed once according to the first preset control parameter, and this closing mainly considers the increase of the moment of inertia factor due to the idle stroke; and then closed again according to the second preset control parameter, and this time the influence of the moment of inertia is not considered, and it is closed directly according to the current (torque). Ensure that the valve is in a closed state, and at the same time, the motor encoder sets the valve position as the zero point.

[0045] Among them, the first closing is not only to move the valve from any possible position to the closed state, but also takes into account the idle stroke (i.e. the part without actual movement but the motor is still rotating) and the moment of inertia (i.e. the property of the valve and the drive mechanism to resist changing its motion state during movement) in the valve mechanical structure; correspondingly, the specific implementation method is to implement it through the first preset control parameters. In the first preset control parameters, the current limiting range is the first current limiting range, and the speed range is the first speed range, both of which are small current and small speed (less than the second closing). The slow setting of the first closing is to find the zero point without collecting the idle stroke and moment of inertia. After the first closing, the valve position is near the zero point.

[0046] The second closing is directly based on the current (or torque) control of the motor without considering additional idle stroke or rotational inertia compensation. The purpose of this is to accurately calibrate the valve closing position, ensure that the motor encoder can accurately record the position of the valve when it is closed, and set it to zero; correspondingly, the specific implementation method is to achieve it through the second preset control parameter, in which the second preset control parameter is medium current and medium speed (greater than the first closing). For example, for a bellows valve (conical seal), the problem is that it can be closed under different torques, for example, it can be closed under 5 N, 6 N or 7 N, but the final closing position is different. Therefore, in this exemplary embodiment, medium current and medium speed are used, and a relatively large torque is used to make the closing process more accurate.

[0047] That is to say, if large control parameters / medium control parameters are used to directly set the valve to zero, the accuracy / precision of the zero point will be lost due to the idle stroke and moment of inertia; and if small control parameters are used to directly set the valve to zero, the valve will not be able to reach the actual zero position due to insufficient force, which will also have a certain impact on the accuracy / precision of the zero point.

[0048] After the second closing operation is completed, the position recorded by the motor encoder is used as the zero position of the valve. This zero position is the basis for all subsequent valve position controls, ensuring that the valve control system can start working from the same reference point every time it is powered on again.

[0049] In summary, in this exemplary embodiment, in the valve zeroing test step of the valve torque testing method, through two closing operations, the idle stroke + moment of inertia (first closing) and current / torque control (second closing) are considered respectively, which can significantly improve the accuracy of the valve zero position and lay a good foundation for subsequent valve opening test and valve closing test.

[0050] In addition, it should be noted that there can be multiple groups of second preset parameters when zeroing, that is, each group corresponds to a different torque. The second preset parameter is closed in order to close according to the preset torque, so that the valve can be closed according to the torque required by the process (which can be 5 N, 6 N or other). When the valve is closed, reading the position after the valve is actually closed is actually to ensure that the valve is closed according to the required torque, not just to read whether the position has reached the zero position, because the pressure in the pipeline is different, and the closing position will have a slight angle error. This exemplary embodiment can not only judge whether it is in place by position, but can also be used in occasions where there are precise requirements for closing torque.

[0051] More preferably, in an exemplary embodiment, if Figure 3 As shown, the valve opening test step includes the following sub-steps:

[0052] Using the third preset control parameter to control the test motor to open the valve at the zero position to a corresponding position angle;

[0053] Whether the valve opening test is successful is determined by determining whether the actual position angle read by the sensor is the same as the corresponding position angle.

[0054] Specifically, in this exemplary implementation, a specific implementation method of the valve opening test step is disclosed, that is, using a third preset control parameter to control the test motor to open the valve at the zero position to a corresponding position angle, and judging the opening result.

[0055] More preferably, in an exemplary embodiment, in the third preset control parameter, the current limiting range is a third current limiting range, and the speed range is a third speed range; the third current limiting range is greater than the second current limiting range, and the third speed range is greater than the first speed range.

[0056] Specifically, in the present exemplary embodiment, since the valve opening process belongs to the normal working flow, the current limit can be set to a larger current setting.

[0057] More preferably, in an exemplary embodiment, in order to facilitate unified setting, if conditions permit, the third speed range is the same as the second speed range.

[0058] More preferably, in an exemplary embodiment, in the valve opening test step, when it is first determined that the actual position angle read by the sensor is different from the corresponding position angle, the valve opening control is performed again and then the determination is made again.

[0059] Specifically, in this exemplary embodiment, in order to avoid inaccurate data caused by external reasons or other reasons, an optimization measure is provided, that is, if the opening is not in place, the opening operation can be performed again.

[0060] It should be noted that the actual position angle here and the corresponding position angle may have a certain error range, such as an error range of 1%.

[0061] More preferably, in an exemplary embodiment, if Figure 4 As shown, the valve closing test step includes the following sub-steps:

[0062] Using the fourth preset control parameter to control the test motor to pre-close the valve in the open state, so that the valve rotates to a pre-closing position having a first angle range with the zero position;

[0063] Using the fifth preset control parameter to control the test motor to finely close the valve at the pre-closing position, and rotate the valve to the zero position;

[0064] The sensor determines whether the actual position angle read and the corresponding position angle are within the second angle range of the zero position, so as to determine whether the valve closing test is successful;

[0065] Among them, in the fourth preset control parameter, the current limiting range is the fourth current limiting range, and the speed range is the fourth speed range; in the fifth preset control parameter, the current limiting range is the fifth current limiting range, and the speed range is the fifth speed range; the fourth current limiting range is greater than the second current limiting range, and the fourth speed range is greater than the first speed range; the fifth current limiting range is greater than the first current limiting range, and the fifth speed range is greater than the first speed range.

[0066] Specifically, in this exemplary embodiment, compared with the direct closing test in the prior art, in this exemplary embodiment, a two-step closing procedure is adopted: the first is the pre-closing of the valve, specifically, when the valve is closed, it is rotated to the pre-closing position with a first angle range at the zero position according to the fourth preset control parameter; the second closing is the fine closing of the valve, specifically, it is rotated to the second angle range at the zero position according to the fifth preset control parameter.

[0067] Among them, the purpose of valve pre-closing is to quickly rotate the valve to a position close to the closing position (such as the zero position or the zero position ≈ 5° position) to reduce the time and energy required for the subsequent fine closing operation. High speed is adopted at this stage, that is, through the setting of the fourth preset control parameter, the fourth current limit range is greater than the second current limit range, and the fourth speed range is greater than the first speed range. However, high speed is mainly affected by the moment of inertia. If the speed is too fast when it is directly in place, the torque will be uncontrollable. Therefore, a valve fine closing step is required.

[0068] The purpose of fine valve closing is to achieve complete closing of the valve by precisely controlling the current (or torque) when the valve is close to the closed position, thereby solving the problem that may occur during the valve pre-closing process. Since the valve rotation angle is small at this time, it is almost not affected by the moment of inertia, so high-precision control can be achieved. Through the setting of the fifth preset control parameter, the fifth current limit range is greater than the first current limit range, and the fifth speed range is greater than the first speed range.

[0069] In summary, in this exemplary embodiment, the valve is first quickly rotated to a position close to zero by pre-closing, and then the current (torque) is precisely controlled by fine closing to close the valve. The accuracy of valve closing can be significantly improved by the two steps of pre-closing and fine closing.

[0070] More preferably, in an exemplary embodiment, in order to facilitate unified setting, if conditions permit, the fourth speed range is the same as the second speed range, and the fifth speed range is the same as the second speed range.

[0071] More preferably, in an exemplary embodiment, in the valve closing test step, when the angle position of the pre-closing does not satisfy the first angle range of the zero position, the pre-closing is executed again; when the angle position of the fine closing does not satisfy the second angle range of the zero position, the fine closing is executed again and the judgment is made again.

[0072] Specifically, in this exemplary embodiment, in order to avoid inaccurate data caused by external reasons or other reasons, an optimization measure is provided, that is, when the pre-closing and fine closing are not in place, a corresponding closing operation can be performed again.

[0073] More preferably, in an exemplary embodiment, the first angle range is within a range of plus or minus five degrees; and the second angle range is within a range of plus or minus one degree.

[0074] More preferably, in an exemplary embodiment, the preset control parameters also include acceleration, deceleration, KP, KI, and KD, and the acceleration, deceleration, KP, KI, and KD remain consistent during the control process.

[0075] Among them, the parameters of the PID controller are Kp, ki, and Kd; kp, the proportional link, is to speed up the response speed and quickly achieve stability, which can reduce the error but cannot eliminate the error; ki, the integral link is to eliminate the steady-state error. As long as there is an error in the system, it will continue to integrate, and no error will appear after steady state. Too much overshoot will cause overshoot; kp, the differential link predicts the trend of the error, reduces the overshoot to overcome oscillation, and improves the stability of the system.

[0076] Specifically, for the above exemplary embodiments, a specific implementation parameter is given, and the parameter is not specifically limited, and is only used for specific reference:

[0077] The first preset control parameters: current limit 100, speed 500, acceleration 1000, deceleration 500, KP1000, KI50, KD2000; execute once;

[0078] The second preset control parameters: current limit 700, speed 2000, acceleration 1000, deceleration 500, KP1000, KI50, KD2000; after execution, the encoder is reset to zero at the current position;

[0079] The third preset control parameters: no current limit, speed 2000, acceleration 1000, deceleration 500, KP1000, KI50, KD2000; each time the valve is opened, refer to the third preset control parameters + pulse rotation 720° and read the position;

[0080] The fourth preset control parameter: no current limit, speed 2000, acceleration 1000, deceleration 500, KP1000, KI50, KD2000; each time the valve is closed, refer to the fourth preset control parameter - the pulse turns to about 5° and reads the position;

[0081] The fifth preset control parameters: current limit 700, speed 2000, acceleration 1000, deceleration 500, KP1000, KI50, KD2000; read the position after execution.

[0082] Among them, the current limit unit is mA, the speed unit is rpm, and the acceleration / deceleration unit is m / s 2 .

[0083] Having the same inventive concept as the above exemplary embodiment, another exemplary embodiment of the present invention provides a valve torque testing device, including a storage unit and a processing unit, wherein the storage unit stores computer instructions that can be executed on the processing unit, and the processing unit executes the steps of the method when running the computer instructions.

[0084] Obviously, the above embodiments are merely examples for clear explanation, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from them are still within the protection scope of the invention.

Claims

1. A valve torque testing method, characterized in that: The method comprises a valve zeroing test step performed by using preset control parameters, and a valve opening test step and a valve closing test step after the valve zeroing test step, wherein the preset control parameters include current limit and rotation speed; The valve zeroing test step includes the following sub-steps: Using the first preset control parameter to control the test motor to preset the valve to zero, and then using the second preset control parameter to control the test motor to force the valve to zero; The valve position after forced zeroing is used as the zero position of the test motor encoder; Among them, in the first preset control parameters, the current limiting range is the first current limiting range, and the speed range is the first speed range; in the second preset control parameters, the current limiting range is the second current limiting range, and the speed range is the second speed range; the first current limiting range is smaller than the second current limiting range, and the first speed range is smaller than the second speed range.

2. A valve torque testing method according to claim 1, characterized in that: The valve opening test step includes the following sub-steps: Using the third preset control parameter to control the test motor to open the valve at the zero position to a corresponding position angle; Whether the valve opening test is successful is determined by determining whether the actual position angle read by the sensor is the same as the corresponding position angle.

3. A valve torque testing method according to claim 2, characterized in that: In the third preset control parameter, the current limiting range is the third current limiting range, and the speed range is the third speed range; the third current limiting range is greater than the second current limiting range, and the third speed range is greater than the first speed range.

4. A valve torque testing method according to claim 3, characterized in that: The third speed range is the same as the second speed range.

5. A valve torque testing method according to claim 2, characterized in that: In the valve opening test step, when it is first determined that the actual position angle read by the sensor is different from the corresponding position angle, the valve opening control is performed again and then the determination is made again.

6. A valve torque testing method according to claim 1, characterized in that: The valve closing test step includes the following sub-steps: Using the fourth preset control parameter to control the test motor to pre-close the valve in the open state, so that the valve rotates to a pre-closing position having a first angle range with the zero position; Using the fifth preset control parameter to control the test motor to finely close the valve at the pre-closing position, and rotate the valve to the zero position; The sensor determines whether the actual position angle read and the corresponding position angle are within the second angle range of the zero position, so as to determine whether the valve closing test is successful; Among them, in the fourth preset control parameter, the current limiting range is the fourth current limiting range, and the speed range is the fourth speed range; in the fifth preset control parameter, the current limiting range is the fifth current limiting range, and the speed range is the fifth speed range; the fourth current limiting range is greater than the second current limiting range, and the fourth speed range is greater than the first speed range; the fifth current limiting range is greater than the first current limiting range, and the fifth speed range is greater than the first speed range.

7. A valve torque testing method according to claim 6, characterized in that: The fourth speed range is the same as the second speed range, and the fifth speed range is the same as the second speed range.

8. A valve torque testing method according to claim 6, characterized in that: In the valve closing test step, when the angle position of the pre-closing does not meet the first angle range of the zero position, the pre-closing is executed again; when the angle position of the fine closing does not meet the second angle range of the zero position, the fine closing is executed again and re-judgment is made.

9. A valve torque testing method according to claim 6, characterized in that: The first angle range is within the range of plus or minus five degrees; the second angle range is within the range of plus or minus one degree.

10. A valve torque testing device, comprising a storage unit and a processing unit, wherein the storage unit stores computer instructions that can be run on the processing unit, characterized in that: When the processing unit runs the computer instructions, the steps of the method according to any one of claims 1 to 9 are performed.

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