Valve actuation control

Abstract

Systems, devices, and methods for controlling valve actuation using inertial sensors are provided. The system may include a valve including an inlet, an outlet, and a plug positioned between the inlet and the outlet. The stopper may include a rod configured to translate or rotate in a first direction causing the stopper to open the valve, or translate or rotate in a second direction causing the stopper to close the valve. The system may also include an actuator coupled to the rod, an inertial sensor coupled to the rod, and a controller coupled to the inertial sensor and to the actuator. The controller may cause the controller to receive sensor data from the inertial sensor and generate a control signal provided to the actuator. The control signal may cause the actuator to translate or rotate the rod in a first direction or a second direction.

Description

BACKGROUND OF THE INVENTION

[0001] Valves are mechanical devices commonly used in conjunction with fluid handling pipelines and fluid storage containers, such as in power generation, refining, or oil and gas production environments, to control the flow of fluid passing through the valve. A variety of non-limiting valve types may be used in these environments.

[0002] Valve actuation control may be implemented by a control system, such as a controller, that is configured to regulate and thus control the rotation or movement of a valve component to control the flow of fluid passing through the valve. Various processing applications may require precise actuation of a valve and may require a corresponding controller that is configured to provide accurate control signals for satisfactory operation of the valve as needed. There is a need to improve control systems and valve types where the control system can implement a control feedback loop to meet precise valve actuation in a variety of processing environments. SUMMARY OF THE INVENTION

[0003] Generally, systems, devices, and methods are provided for controlling valve actuation using inertial sensors.

[0004] In one aspect, a system is provided. In one embodiment, the system may include a valve having an inlet, an outlet, and a plug positioned between the inlet and the outlet. The plug may be coupled to a rod configured to translate or rotate along a first direction to cause the plug to open the valve and translate or rotate along a second direction opposite the first direction to cause the plug to close the valve. The system may also include an actuator coupled to the rod and an inertial sensor coupled to the rod. The system may further include a controller coupled to the inertial sensor and coupled to the actuator. The controller may include at least one data processor and a memory storing non-transitory computer-readable instructions that, when executed by the at least one data processor, cause the controller to receive sensor data from the inertial sensor and generate a control signal provided to the actuator, the control signal causing the actuator to translate or rotate the rod along the first direction or the second direction.

[0005] In another aspect, a method is provided. In one embodiment, the method may include receiving, by at least one data processor of a controller, sensor data from an inertial sensor coupled to a stem of a valve. The valve may include an inlet, an outlet, and a plug positioned between the inlet and the outlet. The stem may be configured to translate or rotate along a first direction, causing the plug to open the valve, or translate or rotate along a second direction opposite the first direction, causing the plug to close the valve. The method may also include determining, by at least one data processor of the controller, at least one control signal based on the received sensor data, the at least one control signal being configured to cause an actuator coupled to the stem to translate or rotate the stem along the first direction or the second direction. The method may further include providing, by at least one data processor and based on the determination, the at least one control signal to the actuator. The method may also include opening or closing the valve based on the at least one control signal.

[0006] In some embodiments, the actuator may include a pneumatic actuator, a mechanical actuator, or an electrically driven actuator. In some embodiments, the inertial sensor may include at least one accelerometer and at least one gyroscope. In some embodiments, the sensor data may correspond to translating or rotating the stem along the first direction or the second direction and may include velocity data, vibration data, packing friction data, and multi-axis position data. In some embodiments, the multi-axis position data may include acceleration data and rotational velocity data corresponding to rotating or translating the stem along the first direction or the second direction. In some embodiments, the acceleration data and the rotational velocity data may be associated with rotating or translating the stem along the X-axis, Y-axis, and / or Z-axis of the stem.

[0007] In some embodiments, the system may include a temperature sensor coupled to the stem and coupled to the controller. The sensor data may include temperature data associated with the stem. In some embodiments, the memory may be configured to store one or more valve characteristics, the one or more valve characteristics including a rotational zero value corresponding to the position of the stem. In some embodiments, the controller may be configured to generate a control signal based on comparing the sensor data with the rotational zero value. In some embodiments, the system may include a power supply coupled to the actuator and the inertial sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] These and other features will be more readily understood from the following detailed description when taken in conjunction with the accompanying drawings, in which:

[0009] Figure 1 is a diagram illustrating one embodiment of a system for using an inertial sensor to control valve actuation according to the subject matter described herein;

[0010] Figure 2 is Figure 1 a diagram of a portion of the system;

[0011] Figure 3 is a diagram illustrating an embodiment of a computing architecture of a system according to the subject matter described herein; Figure 1 for a system according to the subject matter described herein;

[0012] Figure 4 is a process flow diagram depicting an embodiment of a method for controlling valve actuation using a system according to the subject matter described herein; and Figure 1 for a system according to the subject matter described herein;

[0013] Figure 5 is a block diagram of an exemplary computing system of a system configured for Figure 1 for a system according to the subject matter described herein.

[0014] Note that the figures are not necessarily drawn to scale. The figures are only intended to depict typical aspects of the subject matter disclosed herein and should not be considered as limiting the scope of the disclosure. DETAILED DESCRIPTION

[0015] Valve actuation control may require precise control in order to accurately and on a small scale regulate a valve through which a fluid may pass. Generally, a valve stem may be coupled to a valve plug such that movement of the valve stem causes the valve plug to move relative to an inlet and / or an outlet of the valve. The valve stem may be coupled to an actuator configured to move the valve stem along a first direction such as a direction associated with opening the valve and a second direction such as a direction associated with closing the valve.

[0016] The actuator may be communicatively coupled to a control system configured to generate control signals to be provided to the actuator to cause the actuator to move the valve stem along the first direction and / or the second direction. Conventionally, the control system may be configured to receive sensor data from a sensor that requires a mechanical linkage to reach the valve stem, such as a Hall effect sensor. Using such sensors and mechanical linkages may pose limitations on the design of complex components of the valve actuation control system and the mechanical linkage, such as the large number of mechanical parts required to configure the mechanical linkage, which may make repairs to the valve, actuator, or controller costly in terms of equipment, downtime, and human resources. In addition, these complex mechanical linkages of conventional control systems may over time cause loosening or gaps in the linkage connections, which may reduce the accuracy of the control system and the valve actuated by the control system. Further, using mechanical linkages may interfere with two or more components of the linkage and may reduce the modularity of the control system. For example, with respect to a particular valve (e.g., particular valve stroke parameters) or a particular control system (e.g., actuator size), mechanical linkages are generally highly specialized and may not be easily adaptable to other valves or control systems. These limitations can be addressed with the improved valve actuation control systems described herein.

[0017] As described herein, an improved valve actuation control system includes an inertial sensor that may be coupled to a valve component such as a valve stem. The inertial sensor is communicatively coupled to a controller and may provide sensor data corresponding to the movement and temperature of the valve stem to the control system. The inertial sensor can address the above limitations of traditional control systems by replacing complex mechanical linkages with electrical connectors that require only a small number of wires to couple the inertial sensor to the controller. The improved valve actuation control system described herein can significantly reduce the number of parts required to mount sensors to a valve. The inertial sensor can be provided as a microelectromechanical system (MEMS), which can reduce the overall footprint of the system and reduce the clearances or variations that can be caused by mechanical linkages. Thus, compared to traditional valve actuation control systems that use complex mechanical linkages to control valve actuation, the improved valve actuation control system described herein can reduce the cost of assembling and maintaining the valve and the controller and reduce or even eliminate human errors that can occur during assembly, calibration, or maintenance. Thus, the improved valve actuation control system described herein can result in a smaller footprint, simplify coupling to valve components, and enable more precise closed-loop control environments for a wide variety of valve control applications.

[0018] Figure 1 The improved valve actuation control system 100 shown may include a valve 105 and an actuator 110 mechanically coupled to the valve 105. The system 100 may also include an inertial sensor controller 115 communicatively coupled to the actuator 110 and a power supply 120 communicatively coupled to the inertial sensor controller 115 and coupled to the actuator 110. In some embodiments, the power supply 120 may be configured within or provided by the inertial sensor controller 115.

[0019] Valve 105 may include a variety of valves, such as rotary valves, globe valves, butterfly valves, ball valves, gate valves, etc. Valve 105 may include an inlet 125 for fluid to enter valve 105 and an outlet 130 for fluid to leave valve 105. Fluid may flow along a flow path F between inlet 125 and outlet 130. Valve 105 may be configured to control the fluid flowing through valve 105 by means of an actuator 110 for opening or closing valve 105. Controller 115 may generate a control signal and provide it to actuator 110, which may cause actuator 110 to actuate a part of the valve, such as a valve stem, to open or close the valve. Actuator 110 may be an electromechanical component including, for example, a motor coupled to valve stem 135 of valve 105. In some embodiments, actuator 110 may include a pneumatic actuator or a hydraulic actuator. One or more sensors 140 may be coupled to valve stem 135 or disposed adjacent to the valve stem. Actuation of the actuator or motor may cause valve stem 135 to translate, such that the plug 145 of valve 105 opens or closes the valve. In some embodiments, actuation of actuator 110 or the motor may cause valve stem 135 to rotate to open or close valve 105. Without departing from the subject matter described herein, various non-limiting valve 105 and valve stem 135 configurations may be included in system 100. In some embodiments, flow path F, inlet 125, and outlet 130 may be in an arrangement opposite to that shown for valve 105 of Figure 1 as shown.

[0020] As Figure 2 shown, actuator 110 may be coupled to inertial sensor controller 115. Inertial sensor controller 115 may generate a control signal and provide it to actuator 110. Valve stem 135 may mechanically couple actuator 110 to valve 105. Valve stem 135 may be coupled to valve plug 145, which may be disposed between inlet 125 and outlet 130 of valve 105. Rotation or translation of valve stem 135 may cause valve plug 145 to rotate or move (e.g., translate) to control the fluid flow rate through valve 105. In some embodiments, actuator 110 may be a pneumatic actuator, a mechanical actuator, or an electrically driven actuator.

[0021] Figure 1 One or more sensors 140 of the valve actuation control system 100 shown as Figure 2The inertial sensor 225 shown. The inertial sensor can measure the acceleration and angular velocity of an object along three mutually perpendicular axes (e.g., the "x", "y", or "z" axes). In some embodiments, the inertial sensor 225 can be an inertial measurement unit (IMU) and can include MEMS sensors. The inertial sensor 225 can include one or more of an accelerometer 230, a gyroscope 235, and / or a temperature sensor 240. The inertial sensor 225 can be positioned to contact the valve stem 135 and can be configured to determine and generate sensor data corresponding to the translation or rotation and temperature of the valve stem 135. For example, the sensor data can include velocity data, vibration data, packing friction data, and position data, such as multi-axis position data. For example, the multi-axis position data can include acceleration data and rotational velocity data associated with the translation or rotation of the valve stem 135 along the X-axis, Y-axis, or Z-axis. The sensor data generated by the inertial sensor 225 can correspond to the movement of the valve stem 135 relative to the first direction of the openable valve 105 or the second direction of the closable valve 105. The second direction can be opposite to the first direction. The inertial sensor 225 can also include a temperature sensor 240 that can generate temperature data associated with the valve stem 135. The translation or rotation of the valve stem 135 along the Y-axis in the first direction can cause the valve plug 145 to translate or rotate to open the valve 105. The translation or rotation of the valve stem 135 along the Y-axis in the second direction can cause the valve plug 145 to translate or rotate to close the valve 105. The first direction can be opposite to the second direction.

[0022] The system 100 can include an inertial sensor controller 115 configured as a computing device or computing system as described herein. The inertial sensor controller 115 can include Figure 3The computing architecture shown. For example, power supply 120 may provide power to inertial sensor controller 115, inertial sensor 225, and / or actuator 110. Although a single power supply 120 is shown, it should be understood that multiple power supplies may be contemplated without limitation. Inertial sensor 225 may be positioned in contact with or adjacent to valve stem 135 such that components of inertial sensor 225 may sense physical properties associated with the translation and rotation of valve stem 135 and generate sensor data that may be provided to inertial sensor controller 115. The sensor data may also include a clock signal received from inertial sensor 225, which may be used to synchronize other sensor data values in time. For example, accelerometer 230, gyroscope 235, and / or temperature sensor 240 may generate sensor data that may be received by interpreter 315 of inertial sensor controller 115. In some embodiments, interpreter 315 may be a rotational interpreter or an axial interpreter. Interpreter 315 may include logic components and / or executable computer-readable functions that, when executed by a data processor of the controller, cause inertial sensor controller 115 to determine sensor data values that correspond to each of the X, Y, and Z axes along which inertial sensor 225 translates or rotates (and thus also correspond to the translation or rotation of valve stem 135 relative to its X, Y, and Z axes). For example, acceleration data values and rotational velocity data values relative to each of the X, Y, and Z axes may be determined based on sensor data received from accelerometer 230 and gyroscope 235, respectively.

[0023] Additionally, interpreter 315 may also process temperature data received from temperature sensor 240 and use the temperature data to correct raw sensor data values received from accelerometer 230 and gyroscope 235, e.g., to correct axial acceleration data and rotational velocity data.

[0024] The corrected sensor data may be provided from interpreter 315 to filter 320. In some embodiments, filter 320 may include a Kalman filter.

[0025] The filtered sensor data can be received by an acceleration interpreter 325 (e.g., "Acc.Interpreter") and a position interpreter 330 (e.g., "Pos.Interpreter"). For example, the filtered sensor data associated with the accelerations of the inertial sensor 225 along the X-axis, Y-axis, and Z-axis can be received and further processed. The acceleration data associated with the X-axis can be integrated to determine the velocity of the inertial sensor 225 (and thus the valve stem 135). The acceleration data associated with the Y-axis can be fused with the velocity corresponding to the acceleration data associated with the X-axis through a first fusion algorithm, and the fused data can be stored. The acceleration data and vibration data can be stored in a memory and used for maintenance diagnosis and / or repair of the system 100.

[0026] The filtered sensor data can also be received by the position interpreter 330 (e.g., "Pos.Interpreter"). For example, the filtered sensor data associated with the rotational velocities of the inertial sensor 225 along the X-axis, Y-axis, and Z-axis can be received and further processed. The rotational velocity data associated with each of the X-axis, Y-axis, and Z-axis can be fused through a second fusion algorithm to determine the position associated with the inertial sensor 225 (and thus the valve stem 135). The second fusion algorithm can also receive the acceleration data associated with the Z-axis to determine the position of the inertial sensor 225. The determined position can be provided to the first fusion algorithm. The determined position can correspond to a single axis such as the X-axis, Y-axis, or Z-axis, depending on the main axis about which the valve stem 135 and the inertial sensor 225 rotate. Advantageously, the fusion algorithms can enable the position of the valve stem 135 to be determined with higher accuracy than conventional systems. For example, fusing the acceleration data and vibration data enables the position of the valve stem 135 to be determined more accurately.

[0027] The determined position can be provided to the checker 335 and the determined position can be compared with the control signal 330. The control signal can be provided by a user. For example, the control signal can be 4 mA to 20 mA. In some embodiments, the control signal can be a digital signal provided by a wireless communication protocol such as WiFi or Zigbee. The control signal can be any signal different from its source (e.g., analog or digital). Based on the comparison result, the checker 335 can adjust the determined position according to one or more valve characteristics or parameters stored in the memory of the controller 115. For example, the valve characteristics or parameters can include valve type, flow coefficient (CV) of the valve, opening pressure, valve stroke, etc.

[0028] The checker 335 can provide a corrected position value (e.g., Act.Controller) to the actuator controller 340. The actuator controller 340 can be a separate or additional controller included in the system 100. In some embodiments, the actuator controller 340 can be included in the inertial sensor controller 115. In some embodiments, the actuator controller 340 can process the corrected position value provided by the checker 335 via a proportional-integral-derivative (PID) controller (or PID corrector). The PID corrector is a control loop mechanism that uses feedback and is widely used in industrial control systems and various other application fields that require continuous modulation control. The PID controller continuously calculates the error value e(t) as the difference between the desired set point (SP) and the measured process variable (PV), and performs corrections based on the proportional, integral, and derivative terms (denoted as P, I, and D respectively). The corrected position value can be updated via the PID and converter of the actuator controller 340 to generate a control signal that can be provided to the signal regulator of the actuator controller 340. The signal regulator can also receive an input from the actuator supply source 345 and generate a control signal to be provided to the actuator 110. The signal regulator can be a relay configured to receive a small input signal and provide a larger input signal to the actuator 110. In some embodiments, the actuator supply source 345 can include a pneumatic supply source, but other actuator supply source configurations are also conceivable. The control signal generated by the actuator controller 340 can cause the actuator 110 to adjust the position of the valve stem 135 to control the actuation of the valve 110.

[0029] The system 100 described herein can be configured to perform Figure 4 the method 400 shown. For example, at 410, sensor data received from the inertial sensor 225 coupled to the valve stem 135 of the valve 105 can be received by a data processor in a controller such as the inertial sensor controller 115 included in the system.

[0030] At 420, a data processor of the inertial sensor controller 115 (and / or a data processor of the actuator controller 340) can determine at least one control signal configured to cause the actuator 110 coupled to the valve stem 135 to rotate the valve stem in a first direction or in a second direction that can be opposite to the first direction.

[0031] At 430, the inertial sensor controller 115 can provide the at least one control signal to the actuator 110. Thus, the actuator 110 can be actuated according to the control signal to actuate the valve stem 135 such that at 440, the valve 105 is opened or closed based on the at least one control signal.

[0032] Figure 5FIG. 500 is a block diagram of a computing system 510, such as an inertial sensor controller 115, configured to control valve actuation via an inertial sensor 225, as Figures 1 to 4 shown and described in relation thereto. Broadly speaking, the computing system 510 includes at least one processor 550 for performing operations in accordance with instructions, and one or more memory devices 560 and / or 570 for storing the instructions and data. The illustrated example computing system 510 includes one or more processors 550 that communicate with a memory 570 via a bus 515, and communicate with at least one network interface controller 520 having a network interface 525 for connecting to external devices such as an inertial sensor 205. In some embodiments, the network interface controller 520 and the network interface 525 may be communicatively coupled to a second computing device, a network device, a server, etc. The one or more processors 550 also communicate with each other via the bus 515 and communicate with any I / O devices at one or more I / O interfaces 540 and any other devices 580. The illustrated processor 550 is coupled to or directly connected to a cache memory 560. Generally, the processor will execute instructions received from the memory. In some embodiments, the computing system 510 may be configured within a cloud computing environment, a virtual or containerized computing environment, and / or a network-based microservices environment.

[0033] More specifically, the processor 550 can be any logic circuitry that processes instructions, such as instructions fetched from the memory 570 or the cache 560. In many embodiments, the processor 550 is an embedded processor, a microprocessor unit, or a dedicated processor. The computing system 510 can be based on any processor, e.g., a suitable digital signal processor (DSP) or a set of processors capable of operating as described herein. In some embodiments, the processor 550 can be a single-core or multi-core processor. In some embodiments, the processor 550 can be composed of multiple processors. For example, in some embodiments, multiple processors are communicatively coupled and configured to accelerate one or more fusion algorithms included in a computing system 510 such as those described in reference Figure 3 to interpreters 315, interpreters 325, interpreters 330. In some embodiments, the computing system 510 can include one or more graphics processing units (GPUs) configured to accelerate one or more fusion algorithms included within the computing system 510. The fusion algorithms can be configured on one or more GPUs.

[0034] The memory 570 can be any device suitable for storing computer-readable data. The memory 570 can be a device with a fixed storage device or a device for reading removable storage media. Examples include all forms of non-volatile memory, media, and memory devices, semiconductor memory devices (e.g., EPROM, EEPROM, SDRAM, flash memory devices, and all types of solid-state memory), magnetic disks, and magneto-optical disks. The computing system 510 can have any number of memory devices 570.

[0035] The cache memory 560 is typically in the form of high-speed computer memory placed closely to the processor 550 for fast read / write times. In some specific implementations, the cache memory 560 is part of the processor 550 or on the same chip.

[0036] The network interface controller 520 manages data exchange via the network interface 525. The network interface controller 520 processes the physical layer, media access control layer, and data link layer of the Open Systems Interconnection (OSI) model for network communication. In some specific implementations, some of the tasks of the network interface controller are processed by the processor 550. In some specific implementations, the network interface controller 520 is part of the processor 550. In some specific implementations, the computing system 510 has multiple network interface controllers 520. In some specific implementations, the network interface 525 is a connection point for a physical network link such as an RJ 45 connector. In some specific implementations, the network interface controller 520 supports wireless network connections, and the interface port 525 is a wireless Bluetooth transceiver. Generally, the computing system 510 exchanges data with other computing devices or network devices via a physical link or a wireless link to the network interface 525. In some specific implementations, the network interface controller 520 implements network protocols such as LTE, TCP / IP Ethernet, IEEE 802.11, IEEE 802.16, Bluetooth, etc.

[0037] Other computing devices 530 can be connected to the computing system 510 via the network interface port 525. The other computing devices 530 can be peer computing devices, network devices, or any other computing device with network capabilities. For example, the computing device 530 can be a second controller of the actuator 110 (e.g., Act.Controller 340), a second inertial sensor 225, a second computing device, or a server. In some embodiments, the computing device 530 can be a network device that connects the computing system 510 to a data network such as the Internet, such as a hub, bridge, switch, or router.

[0038] In some uses, the I / O interface 540 supports input devices and / or output devices (not shown). In some uses, the input device and the output device are integrated into the same hardware, for example, as in a touch screen. In some uses, such as in a server context, there is no I / O interface 540 or the I / O interface 540 is not used. In some uses, additional other components 580 communicate with the computer system 510, such as external devices connected via a Universal Serial Bus (USB).

[0039] The other devices 580 may include an I / O interface 540, an external serial device port, and any additional coprocessors. For example, the computing system 510 may include an interface (such as a Universal Serial Bus (USB) interface, etc.) for connecting an input device (such as a keyboard, a microphone, a mouse, or other pointing device), an output device (such as a video display, a speaker, a refreshable braille terminal device, or a printer), or an additional memory device (such as a portable flash drive or an external media drive). In some specific embodiments, the I / O device is incorporated into the computing system 510, such as a touch screen on a tablet device. In some specific embodiments, the computing device 510 includes additional devices 580, such as a coprocessor, for example, a math coprocessor that can assist the processor 550 with high-precision or complex calculations.

[0040] By way of non-limiting examples, exemplary technical effects of the systems, devices, and methods for valve control actuation via inertial sensors described herein include improved valve actuation and operation. By providing an inertial sensor coupled to an actuating valve component, the valve systems described herein may include fewer mechanical linkages and may reduce the complexity of the valve actuation control system. This can reduce the need for complex inventory control system parts, assembly methods, and maintenance equipment. Compared with existing control systems that may not include and do not account for temperature fluctuations when providing control signals, the improved valve actuation systems described herein can further perform more accurate valve control by integrating acceleration, rotational speed, and temperature into a determined control signal. The improved valve actuation control systems, devices, and methods enable the valve to achieve more stringent operating parameters for valve opening or closing or regulation. In addition, the valve actuation control system can be coupled to an existing valve as a retrofit component, enabling an operator to easily update a complex mechanical linkage control system to obtain a more precise inertial valve control system with a reduced footprint.

[0041] The subject matter described herein can be implemented in analog electronic circuits, digital electronic circuits, and / or computer software, firmware, or hardware (including the structural devices and their structural equivalents disclosed in this specification), or a combination thereof. The subject matter described herein can be implemented as one or more computer program products, tangibly embodied in an information carrier (e.g., embodied in a machine-readable storage device), or embodied in a propagated signal, for one or more computer programs for execution or control of the operation of a data processing device (e.g., a programmable processor, a computer, or multiple computers) by the data processing device. A computer program (also referred to as a program, software, software application, or code) can be written in any form of programming language (including a compiled language or an interpreted language), and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for a computing environment. A computer program does not necessarily correspond to a file. A program can be stored in a part of a file that holds other programs or data, stored in a single file dedicated to the program being considered, or stored in multiple cooperating files (e.g., files that store one or more modules, subroutines, or portions of code). A computer program can be deployed to execute on one computer or on multiple computers, which are located at one site or distributed across multiple sites and interconnected by a communication network.

[0042] The processes and logical flows described in this specification, including the method steps of the subject matter described herein, can be executed by one or more programmable processors executing one or more computer programs to perform the functions of the subject matter described herein by operating on input data and generating output. The processes and logical flows can also be executed by dedicated logic circuitry (e.g., an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit)), and the devices of the subject matter described herein can be implemented as dedicated logic circuitry (e.g., an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit)).

[0043] By way of example, processors suitable for executing computer programs include both general and special purpose microprocessors, as well as any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read only memory or a random access memory or both. The essential elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Usually, a computer will also include or be operatively coupled to one or more mass storage devices for storing data (e.g., magnetic disks, magneto-optical disks, or optical disks) to receive data from or transfer data to the one or more mass storage devices for storing data. Information carriers suitable for embodying computer program instructions and data include all forms of non-volatile memory, including for example semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices); magnetic disks (e.g., internal hard disks or removable disks); magneto-optical disks; and optical disks (e.g., CD and DVD disks). The processor and the memory may be supplemented by, or incorporated in, special purpose logic circuitry.

[0044] For purposes of providing an interaction with a user, the subject matter described herein may be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with the user. For example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input received from the user may be in any form, including sound, voice, or tactile input.

[0045] The techniques described herein can be implemented using one or more modules. As used herein, the term "module" refers to computing software, firmware, hardware, and / or various combinations thereof. However, at a minimum, a module should not be construed as software that is not implemented on hardware, firmware, or recorded on a non-transitory processor-readable storage medium (i.e., a module is not software per se). In fact, a "module" will be construed to always include at least some physical non-transitory hardware, such as a processor or a portion of a computer. Two different modules may share the same physical hardware (e.g., two different modules may use the same processor and network interface). The modules described herein may be combined, integrated, separated, and / or replicated to support various applications. Additionally, instead of or in addition to the functions performed at a particular module, functions described herein as being performed at a particular module may be performed at one or more other modules and / or by one or more other devices. Further, modules may be implemented locally or remotely relative to each other across multiple devices and / or other components. Additionally, a module may be moved from one device and added to another device, and / or may be included in both devices.

[0046] The subject matter described herein can be implemented in a computing system that includes backend components (e.g., data servers), middleware components (e.g., application servers), or frontend components (e.g., client computers having a graphical user interface or a web browser through which a user can interact with a particular implementation of the subject matter described herein), or any combination of such backend components, middleware components, and frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include local area networks ("LANs") and wide area networks ("WANs"), such as the Internet.

[0047] Certain exemplary embodiments are described to provide a thorough understanding of the principles of the structure, function, manufacture, and use of the systems, devices, and methods disclosed herein. One or more examples of these embodiments are shown in the drawings. Those skilled in the art will understand that the systems, devices, and methods specifically described and shown in the drawings are non-limiting exemplary embodiments, and the scope of the present invention is defined only by the claims. Features shown or described in connection with one exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention. Additionally, in the present disclosure, components with similar names in the embodiments generally have similar features, and thus, within a particular embodiment, not every feature of each similarly named component may be fully described.

[0048] As used throughout this specification and the claims, approximate language may be used to modify any quantitative representation that could vary without resulting in a change in the basic function to which it is related. Accordingly, values modified by terms such as "about," "approximately," and "substantially" are not to be limited to the exact values specified. In at least some instances, the approximate language may correspond to the precision of the instrument used to measure the value. Also, throughout this specification and the claims, range limitations may be combined and / or interchanged, and such ranges are recognized and include all the sub-ranges contained therein unless the context or language indicates otherwise.

[0049] Based on the above embodiments, those skilled in the art will appreciate other features and advantages of the present invention. Accordingly, except as indicated by the appended claims, this application is not limited to what has been specifically shown and described herein. All publications and references cited herein are expressly incorporated by reference in their entirety.

Claims

1. A system, the system comprising: a valve, the valve including an inlet, an outlet, and a plug positioned between the inlet and the outlet, the plug being coupled to a rod, the rod being configured to translate or rotate along a first direction, causing the plug to open the valve, or translate or rotate along a second direction opposite to the first direction, causing the plug to close the valve; an actuator, the actuator being coupled to the rod; an inertial sensor, the inertial sensor being coupled to the rod; and a controller, the controller being coupled to the inertial sensor and coupled to the actuator, the controller including at least one data processor and a memory storing non-transitory computer-readable instructions, the non-transitory computer-readable instructions, when executed by the at least one data processor, causing the controller to receive sensor data from the inertial sensor and generate a control signal provided to the actuator, the control signal causing the actuator to translate or rotate the rod along the first direction or the second direction.

2. The system according to claim 1, wherein the actuator includes a pneumatic actuator, a mechanical actuator, or an electrically driven actuator.

3. The system according to claim 1, wherein the inertial sensor includes at least one accelerometer and at least one gyroscope.

4. The system according to claim 1, wherein the sensor data corresponds to translating or rotating the rod along the first direction or the second direction and includes velocity data, vibration data, packing friction data, and multi-axis position data.

5. The system according to claim 4, wherein the multi-axis position data includes acceleration data and rotational velocity data corresponding to translating or rotating the rod along the first direction or the second direction.

6. The system according to claim 4, wherein the acceleration data and the rotational velocity data are associated with translating or rotating the rod along the X-axis, Y-axis, and / or Z-axis of the rod.

7. The system according to claim 1, the system further including a temperature sensor, the temperature sensor being coupled to the rod and coupled to the controller, and the sensor data further including temperature data associated with the rod.

8. The system according to claim 1, wherein the memory is configured to store one or more valve characteristics, the one or more valve characteristics including a rotational zero value corresponding to the position of the rod.

9. The system according to claim 8, wherein the controller is configured to generate the control signal based on comparing the sensor data with the rotational zero value.

10. The system according to claim 1, the system further including a power source coupled to the actuator and the inertial sensor.

11. A method, the method comprising: Sensor data from an inertial sensor coupled to a stem of a valve is received by at least one data processor of a controller, the valve including an inlet, an outlet, and a plug positioned between the inlet and the outlet, the stem being configured to translate or rotate along a first direction to cause the plug to open the valve, or translate or rotate along a second direction opposite the first direction to cause the plug to close the valve; At least one control signal is determined by the at least one data processor of the controller based on the received sensor data, the at least one control signal being configured to cause an actuator coupled to the stem to translate or rotate the stem along the first direction or the second direction; The at least one control signal is provided to the actuator by the at least one data processor and based on the determination; And The valve is opened or closed based on the at least one control signal.

12. The method according to claim 11, wherein the actuator includes a pneumatic actuator, a mechanical actuator, or an electrically driven actuator.

13. The method according to claim 11, wherein the inertial sensor includes at least one accelerometer and at least one gyroscope.

14. The method according to claim 11, wherein the sensor data corresponds to translating or rotating the stem along the first direction or the second direction and includes velocity data, vibration data, packing friction data, and multi-axis position data.

15. The method according to claim 14, wherein the multi-axis position data includes acceleration data and rotational speed data corresponding to translating or rotating the stem along the first direction or the second direction.

16. The method according to claim 14, wherein the acceleration data and the rotational speed data are associated with translating or rotating the stem along the X-axis, Y-axis, and / or Z-axis of the stem.

17. The method according to claim 11, wherein the sensor data further includes temperature data received from a temperature sensor coupled to the stem and coupled to the controller.

18. The method according to claim 11, wherein the controller further includes a memory configured to store one or more valve characteristics, the one or more valve characteristics including a rotational zero value corresponding to the position of the stem.

19. The method according to claim 18, wherein the controller is configured to generate the at least one control signal based on comparing the sensor data with the rotational zero value.

20. The method according to claim 11, wherein the actuator and the inertial sensor are coupled to a power source.

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