An angular travel intelligent electric actuator control system and an electric actuator

Abstract

The present invention relates to the technical field of electric actuators, and specifically to an angular stroke intelligent electric actuator control system and an electric actuator, including: a signal access module, a drive control module, a collaborative control module, a control verification module, and a diagnostic output module; obtaining a control instruction of the electric actuator, taking the operating speed of each torque execution state as a target, obtaining a torque speed curve of multiple torque execution states, determining the standard operating duration of the switching process of each control command, extracting the command control time from each control command, and obtaining the actual control situation of each pipeline; using the actual control situation of each pipeline, calculating the uniform execution time and variable speed execution time of the electric actuator, and judging the control association of each electric actuator, and setting an association control coefficient; implementing monitoring of the association control coefficient, and alarming when the association control coefficient exceeds a preset threshold; achieving stability and accuracy in the process of switching control commands.

Description

Technical Field

[0001] The present invention relates to the technical field of electric actuators, and specifically to an angular stroke intelligent electric actuator control system and an electric actuator. Background Art

[0002] In the field of industrial automation, angular stroke intelligent electric actuators are widely used in scenarios such as valve control and fluid regulation. However, traditional control systems have the following deficiencies: traditional systems often have difficulty in precisely controlling the angular position and operating speed of the actuator; the coordinated actions between multiple actuators are not smooth enough, which easily leads to system instability or low efficiency; traditional control systems usually do not have real-time monitoring and automatic diagnosis functions and cannot detect and handle abnormal situations in a timely manner; due to the lack of an accurate mapping relationship, the actuator response may be inaccurate.

[0003] For example, Chinese Patent Publication No. CN112923115A discloses an electric actuator and its positioning control method, valve control system, and storage medium. The electric actuator of the present invention controls the operation of the motor driving the valve by controlling the frequency converter. The electric actuator obtains the current valve position value of the valve fed back in real time, calculates the difference between the current valve position value and the target positioning point, and controls the motor to slow down slowly until the motor speed reaches the preset low speed when the difference decreases to the first distance; when the difference decreases to the second distance, controls the motor to quickly decelerate to a stop. The prior art describes the angular values to be considered during the deceleration stage and the acceleration stage and adjusts the angle according to this angular value. However, this method easily ignores the actual operating conditions of the electric actuator and cannot respond quickly according to working conditions or other situations, resulting in limited overall processing effects.

[0004] As disclosed in Chinese Patent Publication No. CN117847305A, there is a mine valve control and protection system based on an embedded computer. First, the present invention comprehensively considers the operation space, operation environment, and suitability of operation conditions of the valves in each target loop to accurately judge whether the control commands for the valves in each target loop can be executed, avoiding potential safety accidents caused by the blind execution of loop valve control commands. Secondly, during the execution of the control commands for each operable valve, an analysis of the valve control safety factor of the coal mine underground water pump unit is carried out to achieve centralized safety control of each operable valve in the coal mine underground water pump unit. After the corresponding control commands for each operable valve are executed, the control performance evaluation coefficients of each operable valve are comprehensively analyzed and feedback is provided. The prior art description controls by parameters such as the temperature and working area of each valve and according to the threshold values of these parameters relative to the valves. However, this control method does not consider the actual working speed of the electric actuator, resulting in only averaging the detector angle or the maximum response duration during overall control, without explaining the actual execution situation at each point of the electric actuator, making it difficult to ensure the stability and accuracy during the switching process of control commands when subsequent warnings are issued, as it cannot explain the dynamically adjustable and conventionally processed parts of the electric actuator according to the relative time ratio of the electric actuator's work. Summary of the Invention

[0005] To solve the above technical problems, the technical solution adopted by the present invention is: an angular travel intelligent electric actuator control system, including: a signal access module for obtaining the control command of the electric actuator and determining the target angle, input current, output torque, and operating speed corresponding to the control command.

[0006] A drive control module for taking the operating speed in each torque execution state as the target, obtaining the torque-speed curve in multiple torque execution states by comparing the speed curves in each torque execution state, and verifying the switching process of each control command by introducing the input current corresponding to each operating speed.

[0007] A collaborative control module for determining the standard operating duration of the switching process of each control command, extracting the command control time from each control command according to the standard operating duration of the switching operation, obtaining the distance between each electric actuator during the switching of control commands using the command control time, and obtaining the actual control situation of each pipeline.

[0008] A control verification module for using the actual control situation of each pipeline to calculate the uniform execution time and variable speed execution time of the electric actuator, judging the control association of each electric actuator, and setting the association control coefficient.

[0009] A diagnosis output module for continuously monitoring the association control coefficient, alarming when the association control coefficient exceeds the preset threshold, and outputting a diagnosis result according to the equipment associated with the association control coefficient.

[0010] An electric actuator includes a processor and a memory. The memory stores a computer program, and when the computer program is executed by the processor, it realizes the content of the system described in any one of the above.

[0011] The beneficial effects of the present invention are as follows: First, by establishing a mapping table between the input current and the angle, the present invention ensures that each control instruction can be accurately converted into the target angle. Then, by comparing the speed curves under various torque execution states, the torque-speed curve is obtained, enabling the electric actuator to operate smoothly under different loads. The input current is also connected to verify the switching process of the control command to determine the stability and accuracy during the switching process.

[0012] Second, by determining the standard running duration of each control command and extracting the control time of each command, the present invention ensures the coordinated actions among multiple actuators. Then, the running states and other contents of the control commands are plotted to form a control flow chart. Each command is regarded as a control node in the control flow diagram. In addition to describing the connection relationship between the control nodes, multiple entities are selected to set the error reasons to ensure the stability of the switching between control commands and the traceability of each control command in case of problems while ensuring the overall coordination of the system.

[0013] Third, based on the actual control conditions of each pipeline, the present invention calculates the uniform execution time and variable-speed execution time of the electric actuator, and combines and describes the corresponding upstream and downstream distributions of each device, enabling each electric actuator to maintain relative consistency in space and time. Based on this, the association between electric actuators is determined, thereby determining the time allocation ratio required for the electric actuator and the corresponding set distance to ensure that each device node can ensure the system is processed in a certain coordination in case of command transmission delay when electric actuators are set on each pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below with reference to the drawings and embodiments.

[0015] Figure 1 It is a system framework diagram of a control system for an angular travel intelligent electric actuator.

[0016] Figure 2 It is a schematic flow diagram of a drive control module of a control system for an angular travel intelligent electric actuator.

[0017] Figure 3 It is a schematic flow diagram of a cooperative control module of a control system for an angular travel intelligent electric actuator.

[0018] Figure 4It is a schematic flow diagram of a control verification module for an angular travel intelligent electric actuator control system. Detailed implementation manners

[0019] The embodiments of the present invention will be described in detail below. The embodiments described below are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention. For those not specified in the embodiments regarding specific technologies or conditions, they shall be carried out according to the technologies or conditions described in the literature in the field or according to the product specifications.

[0020] An angular travel intelligent electric actuator control system includes: a signal access module, a drive control module, a collaborative control module, a control verification module, and a diagnostic output module; wherein, the output end of the signal access module is connected to the drive control module, the output end of the drive control module is connected to the collaborative control module, the output end of the collaborative control module is connected to the control verification module, and the output end of the control verification module is connected to the diagnostic output module.

[0021] The signal access module is used to obtain the control instruction of the electric actuator and determine the target angle, input current, output torque, and operating speed corresponding to the control instruction.

[0022] The drive control module is used to take the operating speed of each torque execution state as the target, obtain the torque-speed curve of multiple torque execution states by comparing the speed curves under each torque execution state, and introduce the input current corresponding to each operating speed to verify the switching process of each control command.

[0023] The collaborative control module is used to determine the standard operating duration of the switching process of each control command, extract the command control time from each control command according to the standard operating duration of the switching operation, and obtain the actual control situation of each pipeline by using the command control time to obtain the distance between each electric actuator when the control command is switched.

[0024] The control verification module is used to calculate the uniform execution time and variable-speed execution time of the electric actuator by using the actual control situation of each pipeline, judge the control association of each electric actuator, and set the association control coefficient.

[0025] The diagnostic output module is used to monitor the association control coefficient in real time. When the association control coefficient exceeds the preset threshold, an alarm is given, and the diagnostic result is output according to the equipment associated with the association control coefficient.

[0026] As Figure 1 shown, the corresponding technical means used in the system are represented in the current figure, and the current torque and related content are calculated by using each technical means to determine whether the data and control commands processed by the current electric actuator are implemented according to the preset requirements.

[0027] Among them, the information access module converts the externally input analog signal (usually a 4-20 mA current signal) into an angular position command for the actuator. After determining the form of the received electrical signal and the required target angle, it sends relevant commands to the drive control module. The drive control module uses a PID controller to generate an appropriate PWM signal to drive the motor, so that the electric actuator reaches the target position. Then, the cooperative control module uses TSN time synchronization to keep the time of multiple electric actuators consistent. The control verification module then calculates the associated control coefficient (K coefficient), evaluates the coordination and stability between each device node, and adjusts the control parameters accordingly. Finally, when an abnormal situation is detected, the diagnostic output module sends an alarm message through the OPC UA protocol and provides a detailed diagnostic result.

[0028] In an embodiment of the present invention, the angular travel intelligent electric actuator is generally started by receiving a standard DC signal of 0-10, 4-20 mA or 1-5 V. 4 mA represents the fully closed valve, and 20 mA represents the fully open valve. Then, according to the received current and time, the torque and displacement thrust of the device are adjusted to adjust the output force of the current machine, and the description of the torque and relative displacement is completed.

[0029] When using a control signal to control the electric actuator, if the corresponding position of its angular travel can match the target angle, but due to the time used under this control command being different from the expected situation, the current pipeline opening is adjusted too fast or too slow, resulting in negative situations such as overpressure and overload in the pipeline under scheduling control. At this time, dealing with time is to determine whether the speed of the electric actuator changes uniformly or variably according to the preset form under different control instructions, so that the connected pipeline can reach a relatively stable operating state; prevent the phenomenon that when the electric actuator changes too fast, the torque and displacement thrust generated by it are inconsistent with the requirements of the current control command, so as to achieve the automatic adjustment and stability of the electric actuator.

[0030] At this time, it is necessary to judge whether the control process of the current electric actuator is stable and can meet the needs of normal equipment processing according to the torque and relative displacement conditions generated by the current electric actuator.

[0031] Therefore, the implementation method of the signal access module also includes: establishing a mapping table between the input current and the angle, determining the mapping relationship between each target angle and the input current when the electric actuator is executing, checking whether the current control instruction corresponds one by one with the mapping table of the input current and the angle. If it corresponds, execute the current control instruction; otherwise, re-obtain the control instruction.

[0032] For example, when a 12 mA signal is input, it is converted into a digital quantity using an ADC chip: 12 mA → 2457 (12-bit resolution); looking up the table gives the corresponding angle: 4 mA (0°), 20 mA (90°) → θ_target = (12 - 4) / (20 - 4) × 90° = 45°; generating an instruction packet: {CMD: ANGLE_SET, Value: 45°, TimeStamp: 2023-09-01 14:00:00.123}; based on this generated control instruction, it is known the target angle that the current electric actuator needs to adjust.

[0033] In an embodiment of the present invention, it is necessary to determine the current angle value of each electric actuator when executing a control command, and this angle value represents the degree of opening of the pipeline controlled by the current electric actuator and the corresponding output torque. Then, torque-speed curves used under different medium flow rates are pre-stored to determine the working conditions of the electric actuator in each torsional execution state, as well as the process differences corresponding to the time required and the current mutation value when the control instruction is switched for the corresponding input current. Inspecting the time at this moment is to adjust whether the control command represented by this current requires corresponding dynamic compensation under the relevant conditions of controlling the pipeline by each electric actuator, so as to prevent differences in the switching angles of the electric actuator under different flow rates.

[0034] A series of torque-speed curves are preset according to different medium flow rates, and these curves define the optimal operating parameters that the electric actuator should adopt under specific working conditions, such as different medium flow rates, and the parameters are, for example, torque and speed. This helps to ensure that the actuator can operate in an optimized manner and avoid overload or low efficiency.

[0035] When the control instruction is switched, the input current changes, which in turn affects the working state of the actuator; by monitoring these current mutations and their corresponding time delays, the speed and accuracy of the actuator's response to the new instruction can be evaluated; if it is found that the response time is too long or the current mutation is abnormal, it may mean that the control logic needs to be adjusted; at the same time, it is also necessary to determine the time required for the electric actuator to complete the control command after the command is executed, and this time will represent the corresponding time to complete the control command and the changes in parameters such as torque within the corresponding time, to prevent problems such as overpressure in some pipelines caused by rapid adjustment.

[0036] Each torque execution state refers to the torque output characteristics shown by the electric actuator under different working conditions, such as different medium flow rates, load conditions, or valve opening degrees, etc. These states reflect the magnitude of the torque required by the actuator to complete a specific task and its change law, and are important indicators for evaluating the performance and adaptability of the actuator.

[0037] Such as Figure 2As shown, the implementation methods of the drive control module include: respectively determining the speed curves for decelerating from the maximum operating speed of the electric actuator to a stop in each torque execution state, and the speed curves for reverse-pushing from a stop to the normal operating speed of the electric actuator in each torque execution state.

[0038] The speed curve for decelerating from the maximum operating speed to a stop. The purpose of this curve is to prevent impacts and vibrations during the operation of the electric actuator. For example, rapid deceleration may cause mechanical impacts and vibrations, which may damage the equipment such as valves or baffles and their connecting components. Identifying the process of how the electric actuator decelerates under different working conditions can help understand the current working state of the electric actuator, and further prevent the negative impact on the overall connecting pipeline caused by some electric actuators decelerating too quickly. This curve mainly checks the speed curve represented when reaching or approaching the target position to avoid overshoot or undershoot phenomena caused by inertia, so as to extend the working life of the electric actuator as much as possible.

[0039] The purpose of the speed curve for accelerating from a stop state to the working speed is to describe the situation of the electric actuator from a certain stop state to the normal operating speed corresponding to the current target angle. For example, when starting from a stationary state, a large initial torque is required to overcome static friction and other static resistances. Knowing the speed curve describing this situation can help understand the working condition of the motor and prevent the speed from being too high, which may cause the motor to be overloaded or the current to increase, and then lead to problems in the control mode of the electric actuator. At the same time, under different working conditions such as different media, the speed curve represented by the electric actuator should also be adjusted as much as possible to adapt to more working situations.

[0040] Taking each torque execution state corresponding to the speed curve as the starting point and the time when each electric actuator jointly completes the control instruction as the end point, intersect and combine each speed curve with the output torque of the electric actuator to form a torque-speed curve. The horizontal axis of the torque-speed curve represents the operating speed of the electric actuator, which is in degrees per second or revolutions per minute to represent the speed of the electric actuator's angle rotation; the vertical axis of the torque-speed curve represents the output torque of the electric actuator. The obtained torque-speed curve is more inclined to the changes that occur after the electric actuator receives different control instructions, so as to identify whether the output torque and operating speed of these changes tend to be normal phenomena.

[0041] Judge whether the torque-speed curve is a complete speed curve. If so, determine the time interval corresponding to the torque-speed curve; otherwise, re-intersect the speed curves.

[0042] Judge whether the time interval corresponding to the torque-speed curve corresponds to the control instruction. If it corresponds, output the torque-speed curve.

[0043] After obtaining the torque-speed curve, it is also necessary to adjust the event interval of the torque-speed curve. The implementation methods for outputting the torque-speed curve also include: determining the time intervals of the torque-speed curve under each torque execution state, comparing the torque-speed curve with the input current according to each time interval, and determining the deviation value between the current angle and the target angle. This deviation value indicates the deviation between the angle rotated per second within the time to reach the target angle and the angle that should be rotated per second under this control command; extracting the time periods corresponding to each deviation value as the switching processes of each output control command. At this time, verifying the switching processes of each control command is to verify the multiple time periods corresponding to the deviation between the angle executed by the electric actuator and the target angle after executing the control command to determine the deviations that the electric actuator can generate under different working conditions. This switching process represents the process implemented by the electric actuator after the control command is issued.

[0044] The implementation methods for verifying the switching processes of each control command by introducing the input current corresponding to each operating speed include: obtaining the start and end points of the time intervals corresponding to each torque execution state, starting from the start point of this time interval, and comparing the slope values and average slope values of each torque-speed curve after the input current is input.

[0045] Determine the time points when the slope values and average slope values of each torque-speed curve reach the maximum value, and record the positions of these time points within the time intervals corresponding to each torque execution state to obtain the state points of each torque execution state. This state point represents a data point represented by data such as its time stamp, input current, working conditions, the angle of the electric actuator, output torque, and operating speed at the corresponding time. This data point represents a point where the torque-speed curve can reach the maximum value under the relative slope. This point represents the position where the output torque and operating speed can reach the allowable maximum value under different working conditions, and this position will represent the operating limit of the electric actuator under specific limits.

[0046] Using the data corresponding to each state point, calculate the probability distribution of each state point within the time intervals corresponding to each torque execution state. The content calculated at this time describes the possibility of this state point under the corresponding data and can be obtained through statistical methods. For example, if the state point obtained at this time represents low torque and low speed, then the probability of this described state point among all the state points that appear can be obtained. If the state point represents medium torque and medium speed, the same method can be used. Then describe the conditional probability of this probability under a certain torque execution state, that is, the working conditions, as the probability distribution at this time.

[0047] At the same time, this probability can also be in the form of a Gaussian distribution. Calculate the Gaussian probability of the discrete distribution with the corresponding values of its output torque and operating speed, and then combine the two probabilities in the form used for conditional probability to describe the probability distribution of each state point at this time.

[0048] Based on the probability distribution of each state point, calculate the matching situation of the output torque and operating speed when each state point is the optimal operating point. Finally, based on the matching situation of the output torque and operating speed, select the switching process of each output control command.

[0049] For calculating the matching situation of the output torque and operating speed when each state point is the optimal operating point, it is to calculate the part where the content executed at this state point does not show obvious oscillation when each state point is in the dynamic response situation, that is, the description situation where the value fluctuation at this point is small. At this time, the content run at this state point will be marked as the optimal operating point.

[0050] Calculate the error value between the output torque and the operating speed, and output it as the matching situation of the output torque and the operating speed. That is, the error value between the output torque and the operating speed and the corresponding data in the historical data is used as the content of the matching situation at this time.

[0051] When the error value between the output torque and the operating speed is greater than the preset error threshold, the corresponding time period is output as the switching process of each control command. At this time, it mainly describes that when each state point can reach the optimal state, if the error value is large at this time, then there may be a delay in the execution of the control command at this time, or the electric actuator may cause loss of its angle rotation due to slow dynamic response, so that the finally reached angle cannot match the target angle, thereby affecting the pipeline adjustment process and increasing the risk of damage to some structures of the electric actuator.

[0052] For the electric actuator, the torque is proportional to the angle. For example ; where represents the output torque of the electric actuator, represents the angle of the electric actuator, represents the output shaft diameter (constant value), represents the material elastic modulus (constant value) , the shaft length (constant value). Thus, it can be known the magnitude of the corresponding output torque of the current electric actuator under the set torque-speed curve, and then the working conditions of the electric actuator in different scenarios are described according to this output torque.

[0053] In an embodiment of the present invention, in the cooperative control module, mainly describe the time error of the switching process of each control command to determine the action delay required by the electric actuator, that is, the product of the medium flow rate in the pipeline and the time delay, to determine the output quantity that each control command will appear under cooperative control.

[0054] The standard running duration refers to the average time required for an electric actuator to complete a control command switch under ideal conditions. This duration is usually determined by the following factors: the maximum running speed of the electric actuator; the opening range of the valve or damper; the response delay of the control system. At this time, the standard running duration within the time period where the switching process is extracted for each control command is obtained. This duration can be the average time of executing the control command by simulating the scenario of the control command, which is used as the standard running duration here. Then, within the time period corresponding to the switching process, the time length value corresponding to this control command is extracted. After that, these two values are compared to determine the cause of the problem for each control command relative to the normal situation, and a control flow chart is formed to describe the working process of the electric actuator under the control command. If the duration of some control commands deviates significantly from the average value, the reasons need to be further analyzed, such as load changes or mechanical failures, etc. These situations will be marked in the control flow chart to describe the specific execution status of the current electric actuator.

[0055] The distance between is the actual running distance of the electric actuator between two consecutive control commands, expressed in terms of angle or linear displacement, to represent the different angles required by two adjacent control commands.

[0056] As Figure 3 shown, the implementation method of the coordinated control module also includes: aligning the standard running duration of the switching process of each control command with the control time of each command to determine the switching time corresponding to each control command. The switching time described here represents the time required for the control command during the command switching process, that is, aligning the standard running duration with the control time of each command to determine whether there is a deviation in the time of this switching process. Then, each control command is regarded as a node to connect multiple control commands.

[0057] Summarize the switching time, the distance between, and the running status of the electric actuator for all control commands to form a complete control flow chart, and output the control flow chart as the actual control situation of each pipeline. The running status includes but is not limited to the following aspects: normal operation, overload protection, fault alarm, position deviation, response delay, and oscillation phenomenon, as shown in Table 1.

[0058] Normal operation: It means that the actuator has executed the command as expected without any abnormalities.

[0059] Overload protection: When the actuator detects that it exceeds its design load, it automatically stops or decelerates to protect itself from damage.

[0060] Fault alarm: It refers to that the actuator encounters mechanical or electrical problems during operation, resulting in the inability to complete the predetermined task.

[0061] Position deviation: There is a difference between the actually reached position and the target position.

[0062] Response delay: The time interval from receiving the instruction to starting the action exceeds the set value.

[0063] Oscillation phenomenon: An unstable state appears when approaching the target position, manifested as repeated adjustments and inability to stabilize at the target position.

[0064] Table 1. Schematic Table of Control Commands

[0065]

[0066] Table 1 illustrates that there may be problem phenomena after two adjacent control commands. Here, the commands 1 - 5 described are not directly consecutive control commands, but are only used to illustrate what the occurring operating states may represent, and the corresponding device of the currently used electric actuator has a range of 0 - 90°, to describe what problems may affect the electric actuator according to different requirements.

[0067] The implementation method of forming a complete control flow chart also includes: regarding each control command in the control flow chart as a control node, determining the connection relationship of each control node in the corresponding operating state, and at this time, associating the currently occurring operating state with the situation of the control node when executing the corresponding control command.

[0068] Using the connection relationship of each control node in the corresponding operating state, marking the relationship direction between each control node, and performing connection constraints on the control flow chart according to the relationship direction, and traversing the control flow chart for direction matching; at this time, the relationship direction will represent the direction of instructions or data flow between control commands, and each control node can be triggered in different operating states; when multiple control commands require the same working conditions, these commands should be reasonably grouped or linked in the control flow chart to ensure logical coherence and efficiency; at this time, the connection constraints ensure that the control commands not only need to meet specific working conditions to be executed, but also must follow the established operation sequence to prevent system anomalies due to improper combinations. Direction matching involves verifying and confirming whether the actual connection between control nodes conforms to the expected design specifications according to the set relationship direction and connection constraints, ensuring that all paths are executed in the correct order and conditions.

[0069] Locate multiple entities for direction matching, select the error causes corresponding to each entity, and summarize the error causes into the control flow chart. After the direction matching is completed, summarize the error causes corresponding to the main several entities into the control flow chart to make the data display more comprehensive.

[0070] As shown in Table 2, it illustrates the possible error causes and other contents when the control command is implemented.

[0071] Table 2. Summary Schematic Table of Control Commands

[0072]

[0073] In Table 2, after explaining the reasons for the existence of errors and connecting them with the control flow chart, it can be known the relevant situations when there are problems with the current electric actuator. These data will be used to identify the corresponding conditions of the pipeline connected to the electric actuator, and perform correlation control on aspects such as time matching and spatial consistency to determine the corresponding conditions of the electric actuator under the correlation control.

[0074] In an embodiment of the present invention, when performing correlation control, the electric actuators are sequentially divided into upstream devices and downstream devices according to the positions where the electric actuators are located. Then, the constant-speed execution time and variable-speed execution time during their operation are compared to determine the time ratio and corresponding density of the upstream devices and downstream devices, so as to judge the relationship between the electric actuators under the correlation control.

[0075] The constant-speed execution time represents the time for the electric actuator to move from one position to another at a constant speed. At this time, the position described represents the angle corresponding to the electric actuator. This mode is applicable to application scenarios that require stable and predictable movements.

[0076] For the variable-speed execution time, it involves acceleration and deceleration stages, that is, the electric actuator does not always run at the same speed, but accelerates or decelerates according to requirements; this is usually used in the following situations: scenarios of rapid response requirements, energy-saving optimization, and complex control strategies. These scenarios require the electric actuator to complete the adjustment of the angle of the electric actuator in a rapid response mode to complete the opening and closing of the valve.

[0077] Rapid response requirements: If the system detects an emergency situation (such as overpressure or leakage), it may be necessary to quickly close or open the valve. At this time, the electric actuator will first accelerate to the maximum speed, and then decelerate when approaching the target position to avoid overshoot or damage to the equipment.

[0078] Energy-saving optimization: By intelligently controlling acceleration and deceleration, energy consumption can be reduced without affecting performance. For example, slowly increasing the speed at the initial stage of startup can reduce the starting current of the motor, thereby reducing the power load.

[0079] Complex control strategies: In some advanced control systems, the speed of the actuator may be dynamically adjusted according to the real-time working conditions to achieve the optimal process control effect. For example, based on the model predictive control (MPC) algorithm, the system can predict the future change trend according to the current state and adjust the speed curve of the actuator accordingly.

[0080] The uniformly executed time and the variably executed time identified herein are used to calculate the differences in the self - adjustment methods selected by these devices in a scenario where multiple electric actuators are involved, and to judge the relative consistency of the electric actuators in space and time based on these adjustment methods.

[0081] As Figure 4 shown, the implementation method of the control verification module includes: based on the actual control situation of each pipeline, recording the parameters of the control command of the electric actuator from the previous position to the next position, and establishing the mapping relationship of each electric actuator; the parameters described here include the control commands used, and the situation where the angle on the electric actuator changes from one angle to another, and then correlating these data to facilitate subsequent analysis of the correlation between each electric actuator among the upstream device and the downstream device.

[0082] Calibrate the device intervals of each electric actuator, where the device intervals include the upstream device interval and the downstream device interval; sequentially determine the time ratios of the uniformly executed time and the variably executed time corresponding to each device node in the device interval, and the calibrated distance of each device node, where the calibrated distance represents the physical distance of the electric actuator corresponding to each device node, that is, the relatively distance in space. This distance is used to evaluate the situation when each electric actuator executes the command and rotates to the target angle considering the fluid transmission delay in the pipeline at the actual physical distance, so as to verify whether there are corresponding errors in the time ratio occupied by the working model selected under its signal transmission, in order to describe the correlation of each electric actuator when working together.

[0083] Compare the time ratios between each device node, set the time ratio coefficient of each device node, and sequentially output the time ratio coefficient according to the distances between each device node in the upstream device interval and the downstream device interval and the upstream and downstream center points.

[0084] When sequentially outputting the time ratio coefficient, its implementation method also includes: taking the key nodes of the logical control in the upstream device interval and the downstream device interval as the upstream and downstream center points, and this node represents the main coordinated point in the upstream and downstream device intervals, such as the key point of flow control, which is mainly used to quantify the distribution of each electric actuator in the pipeline layout position, and then facilitate subsequent verification of whether the allocated time ratio is normal.

[0085] According to the distances between each device node and the upstream and downstream center points, sequentially compare the time ratios of the uniformly executed time and the variably executed time of each device node, determine the time step size of each device node during adjustment according to the value of the time ratio, traverse the time ratio coefficients corresponding to each time step size, and determine the time ratio coefficient when the time ratio deviation is the smallest.

[0086] Suppose there is a simple pipeline system that includes three electric actuators A, B, and C. They are respectively located within the upstream and downstream equipment intervals, and the distances from them to the center points of the upstream and downstream, as well as their respective constant-speed and variable-speed execution times, are shown in Table 3 below.

[0087] Table 3. Schematic Table of Equipment Nodes

[0088]

[0089] In Table 3, illustrate the relative positions of the equipment nodes at this time, as well as the corresponding constant-speed execution times and variable-speed execution times. Then find the center points at this time. For example, the upstream center point is valve V1, and the downstream center point is valve V2.

[0090] After calculating their positions, verify the time ratio differences. The time ratio of device A is 0.667, the time ratio of device B is 0.533, and the time ratio of device C is 0.8. According to the time ratios, the time steps of devices A, B, and C can be set to 0.1, 0.05, and 0.15 respectively (these are only example values and need to be adjusted according to specific situations in actual applications). Then use an optimization algorithm to adjust the time ratio coefficients to minimize the time ratio deviation. For example, for device A, the initial time ratio coefficient is 0.667. After multiple iterative adjustments, the finally obtained time ratio coefficient may be 0.65 (assuming this is the result of minimizing the deviation). Finally, check whether the time ratio coefficients of all equipment nodes are reasonable and ensure that the time ratio distribution of the overall system meets the requirements. Finally, the time ratio coefficients output by each current equipment node can be obtained.

[0091] For the optimization algorithm used, define a loss function that measures the difference between the current time ratio coefficient and the ideal time ratio. For example, the mean squared error (MSE) can be used as the loss function.

[0092] Initialize an initial value of the time ratio coefficient for each equipment node. For each equipment node, calculate the partial derivative of the loss function, that is, the gradient, according to the current time ratio coefficient. This indicates how the change in the gradient direction will affect the total loss.

[0093] Update the value of each time ratio coefficient according to the gradient information. Use the learning rate to update the time ratio coefficient each time, and then repeat continuously until the change in the loss function reaches the minimum. Output the time ratio coefficient corresponding to this time to obtain the time ratio coefficient that needs to be adjusted currently. The corresponding time step will also indicate the relative value of the learning rate. The above description of the case is only for illustrative purposes and is not the corresponding parameter in actual use.

[0094] Use the time ratio coefficient and the calibrated distance to set the weights of each equipment node and calculate the associated control coefficient.

[0095] According to the time proportionality coefficient and the calibrated distance, the time weight and the space weight of the device nodes are set respectively. The ratio of the time proportionality coefficient to the sum of the total time proportionality coefficients is used as the time weight of the device node, and the reciprocal of the calibrated distance between each device node represents the space weight. The weighted sum of the time weight and the space weight is used as the subsequent correlation control coefficient. At this time, a weighted value of 0.6 is set for the time weight, and a weighted value of 0.4 is set for the space weight. After weighting each device node and taking the average, the correlation control coefficient including all device nodes can be obtained.

[0096] The diagnostic output unit is used to monitor the correlation control coefficient. When the correlation control coefficient exceeds the preset threshold, an alarm is issued, and the diagnostic result is output according to the devices associated with the correlation control coefficient.

[0097] When correlating and diagnosing the output of the correlation control coefficient, the implementation method of the diagnostic output unit also includes: counting the number of devices associated when the correlation control coefficient exceeds the preset threshold, and sequentially alarming each electric actuator according to the positions of each device.

[0098] When the correlation control coefficient exceeds the preset threshold, the main purpose of the alarm is to solve the following problems and prevent potential risks.

[0099] Coordination problem between devices: If the correlation control coefficient is abnormal, it may indicate that the actions between some devices are not coordinated. For example, after the upstream device is adjusted, the downstream device fails to respond in time. This may lead to system instability or reduced efficiency. At this time, the alarm prompts the operation and maintenance personnel to check the communication link, signal delay or control logic between the devices.

[0100] System performance degradation: The abnormality of the correlation control coefficient may mean that the overall performance of the system is affected, such as inaccurate flow regulation, excessive pressure fluctuation, etc. The alarm reminds the operator to optimize the control strategy, adjust the time proportionality coefficient of the device or re-calibrate the device interval.

[0101] Potential fault risk: The mutation of the correlation control coefficient may be an early signal of device failure, such as valve jamming, actuator motor overload, etc. The potential problems can be detected early through the alarm, and maintenance or equipment replacement can be arranged to avoid a wider range of system failures.

[0102] The present invention also provides an electric actuator, including: a processor and a memory, the memory stores a computer program, and when the computer program is executed by the processor, it realizes the content of the system described in any one of the above.

[0103] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention, and still be covered by the protection scope of the present invention.

Claims

1. An angular travel intelligent electric actuator control system, characterized in that Including: A signal access module, which is used to obtain the control instruction of the electric actuator and determine the target angle, input current, output torque and running speed corresponding to the control instruction; A drive control module, which is used to take the running speed of each torque execution state as the target, obtain the torque-speed curve of the multi-torque execution state by comparing the speed curves under each torque execution state, and introduce the input current corresponding to each running speed to verify the switching process of each control command; The implementation method of the torque-speed curve output includes: Determine the time interval of the torque-speed curve in each torque execution state. According to each time interval, compare the torque-speed curve with the input current, determine the deviation value between the current angle and the target angle, and extract the time period corresponding to each deviation value as the switching process of each output control command; The implementation method of introducing the input current corresponding to each running speed to verify the switching process of each control command includes: Obtain the start point and end point of the time interval corresponding to each torque execution state, start calculating from the start point of this time interval, and compare the slope value and the average slope value of each torque-speed curve after the input current is input; Determine the time point when the slope value and the average slope value of each torque-speed curve reach the maximum value, and record the position of this time point in the time interval corresponding to each torque execution state to obtain the state point of each torque execution state; Use the data corresponding to each state point to calculate the probability distribution of each state point in the time interval corresponding to each torque execution state; Based on the probability distribution of each state point, calculate the matching situation of the output torque and running speed when each state point is the optimal operating point. Finally, according to the matching situation of the output torque and running speed, select the switching process of each output control command; A cooperative control module, which is used to determine the standard running duration of the switching process of each control command, extract the control time of each command from each control command according to the standard running duration of the switching operation, and use the control time of each command to obtain the distance between each electric actuator when the control command is switched, so as to obtain the actual control situation of each pipeline; A control verification module, which is used to use the actual control situation of each pipeline to calculate the uniform running time and variable-speed running time of the electric actuator, and judge the control association of each electric actuator and set the association control coefficient; A diagnosis output module, which is used to monitor the association control coefficient. When the association control coefficient exceeds the preset threshold, an alarm is issued, and the diagnosis result is output according to the device associated with the association control coefficient.

2. The angular travel intelligent electric actuator control system according to claim 1, characterized in that, The implementation method of the signal access module also includes: Establish a mapping table between the input current and the angle, determine the mapping relationship between each target angle and the input current of the electric actuator, check whether the current control instruction corresponds one by one with the mapping table of the input current and the angle. If it corresponds, execute the current control instruction, otherwise, obtain the control instruction again.

3. The angular travel intelligent electric actuator control system according to claim 1, characterized in that, The implementation method of the drive control module includes: Respectively determine the speed curve of decelerating from the maximum running speed of the electric actuator to stop in each torque execution state, and the speed curve of reverse-pushing from the stop to the normal running speed of the electric actuator in each torque execution state; Starting from each torque execution state corresponding to the speed curve and ending at the time when each electric actuator completes the control instruction together, intersect and combine each speed curve with the output torque of the electric actuator to form a torque-speed curve; Judge whether the torque-speed curve is a complete speed curve. If so, determine the time interval corresponding to the torque-speed curve; otherwise, intersect the speed curve again; Judge whether the time interval corresponding to the torque-speed curve corresponds to the control instruction. If it corresponds, output the torque-speed curve.

4. The angular travel intelligent electric actuator control system according to claim 1, characterized in that, The implementation method of the collaborative control module also includes: Align the standard running duration of the switching process of each control command with the control time of each command to determine the switching time corresponding to each control command; Summarize the switching times, distances between each other, and the operating states of the electric actuators of all control commands to form a complete control flow chart, and output the control flow chart as the actual control situation of each pipeline.

5. The angular travel intelligent electric actuator control system according to claim 4, characterized in that The implementation method of forming a complete control flow chart also includes: Regard each control command in the control flow chart as a control node, and determine the connection relationship of each control node in the corresponding operating state; Use the connection relationship of each control node in the corresponding operating state to mark the relationship direction between each control node, and perform connection constraints on the control flow chart according to the relationship direction, and traverse the control flow chart for direction matching; Locate multiple subjects with direction matching, select the error reasons corresponding to each subject, and summarize the error reasons into the control flow chart.

6. The control system of an angular travel intelligent electric actuator according to claim 1, wherein, The implementation method of the control verification module includes: Based on the actual control situation of each pipeline, record the parameters of the control instruction of the electric actuator from the previous position to the next position, and establish the mapping relationship of each electric actuator; Calibrate the device intervals of each electric actuator. The device intervals include the upstream device interval and the downstream device interval; sequentially determine the time ratios of the uniform execution time and the variable-speed execution time corresponding to each device node in the device interval, and the calibration distance of each device node; Compare the time ratios between each device node, set the time ratio coefficient of each device node, and sequentially output the time ratio coefficient according to the distances between each device node in the upstream device interval and the downstream device interval and the upstream and downstream center points; Use the time ratio coefficient and the calibration distance to set the weights of each device node, and calculate the associated control coefficient.

7. The angular travel intelligent electric actuator control system according to claim 6, characterized in that, The implementation method of sequentially outputting the time ratio coefficient also includes: Regard the key nodes of logical control in the upstream device interval and the downstream device interval as the upstream and downstream center points; According to the distances between each device node and the upstream and downstream center points, sequentially compare the time ratios of the uniform execution time and the variable-speed execution time of each device node, determine the time step size of each device node during adjustment according to the value of the time ratio, traverse the time ratio coefficients corresponding to each time step size, and determine the time ratio coefficient when the time ratio deviation is the smallest.

8. An electric actuator, characterized in that, Including: A processor and a memory, the memory stores a computer program, characterized in that when the computer program is executed by the processor, it implements the content of the system according to any one of claims 1-7.

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