Valve Operation Control

Abstract

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

Description

[Technical Field]

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

[0002] Valve actuation control may be provided by a control system, such as a controller, configured to control by regulating the rotation or movement of valve components to control the flow of fluid through the valve. Precise actuation of valves may be required for various processing applications and may require a corresponding controller configured to provide precise control signals to satisfactorily operate the valves as needed. There is a need for improved control systems that can implement control feedback loops to meet precise valve actuation in a variety of processing environments and valve types. 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 can include a valve having an inlet, an outlet, and a plug positioned between the inlet and the outlet. The plug can be coupled to a stem configured to cause the plug to translate or rotate in a first direction to open the valve and to translate or rotate in a second direction opposite the first direction to close the valve. The system can also include an actuator coupled to the stem and an inertial sensor coupled to the stem. The system can further include a controller coupled to the inertial sensor and the actuator. The controller can include at least one data processor and a memory storing non-transitory computer-readable instructions, which, when executed by the at least one data processor, can cause the controller to receive sensor data from the inertial sensor and generate a control signal to be provided to the actuator, the control signal causing the actuator to translate or rotate the stem in the first direction or the second direction.

[0005] In another aspect, a method is provided. In one embodiment, the method includes 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 cause the plug to translate or rotate in a first direction to open the valve or to translate or rotate in a second direction opposite the first direction to close the valve. The method may also include determining, by the at least one data processor of the controller, based on the received sensor data, at least one control signal to an actuator coupled to the stem, configured to translate or rotate the stem in the first direction or the second direction. The method may further include providing the at least one control signal to the actuator based on the determining, by the at least one data processor. 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 a translation or rotation of the stem in a first direction or a 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 the rotation or translation of the stem in the first direction or the second direction. In some embodiments, the acceleration data and rotational velocity data may be associated with the rotation or translation of the stem along the stem's X-axis, Y-axis, and / or Z-axis.

[0007] In some embodiments, the system may include a temperature sensor coupled to the stem and 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 including a rotational zero value corresponding to a position of the stem. In some embodiments, the controller may be configured to generate a control signal based on comparing the sensor data to the rotational zero value. In some embodiments, the system may include a power source coupled to the actuator and the inertial sensor. [Brief explanation of the drawings]

[0008] These and other features will be more readily understood from the following detailed description taken in conjunction with the accompanying drawings. [Figure 1] FIG. 1 illustrates an embodiment of a system for controlling valve actuation using inertial sensors in accordance with the subject matter described herein. [Figure 2] FIG. 2 is a diagram of a portion of the system of FIG. 1. [Figure 3]FIG. 2 illustrates an embodiment of a computing architecture for the system of FIG. 1 in accordance with the subject matter described herein. [Figure 4] FIG. 2 is a process flow diagram illustrating an embodiment of a method for controlling valve actuation using the system of FIG. 1 in accordance with the subject matter described herein. [Figure 5] 2 is a block diagram of an exemplary computing system configured for use in the system of FIG. 1 in accordance with the subject matter described herein.

[0009] It should be noted that the drawings are not necessarily to scale. The drawings are intended to depict only typical aspects of the subject matter disclosed herein, and therefore should not be considered as limiting the scope of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] Valve actuation control can require precision control to provide accurate, small-scale adjustments to the valve through which fluid can pass. Typically, a valve stem can be coupled to a valve plug such that movement of the valve stem moves the valve plug relative to the inlet and / or outlet of the valve. The valve stem can be coupled to an actuator configured to move the valve stem in a first direction, such as a direction associated with opening the valve, and in a second direction, such as a direction associated with closing the valve.

[0011] The actuator may be communicatively coupled to a control system, and the control system may be configured to generate a control signal that is provided to the actuator, causing the actuator to move the valve stem in a first direction and / or a second direction. Traditionally, control systems have been configured to receive sensor data from sensors that require a mechanical linkage to the valve stem, such as a Hall-effect sensor. The use of such sensors and mechanical linkages can introduce limitations to the valve actuation control system, such as the large number of mechanical parts required to construct the mechanical linkage and the complex assembly design of the mechanical linkage, which can make repairs to the valve, actuator, or controller expensive in terms of equipment, downtime, and manpower. Additionally, these complex mechanical linkages in traditional control systems can introduce loosening or play in the linkage connections over time, which can reduce the accuracy of the control system and the valves actuated by the control system. Furthermore, the use of mechanical linkages can introduce interference between two or more components of the linkage, reducing the modularity of the control system. For example, mechanical linkages are often highly specialized for a particular valve (e.g., particular valve stroke parameters) or particular control system (e.g., actuator size) 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.

[0012] The improved valve actuation control system described herein includes an inertial sensor that can be coupled to a valve component, such as a valve stem. The inertial sensor can be communicatively coupled to a controller and provide the control system with sensor data corresponding to the movement and temperature of the valve stem. The inertial sensor can address the aforementioned limitations of conventional control systems by replacing complex mechanical linkages with electrical connections that require only a few 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 the sensor to the valve. The inertial sensor can be provided as a microelectromechanical system (MEMS), which can reduce the overall footprint of the system and reduce play or variability that can be introduced by the mechanical linkage. As a result, the improved valve actuation control system described herein can reduce the cost of assembly and maintenance of the valve and controller, and can reduce or even eliminate human error in assembly, calibration, or maintenance, compared to conventional valve actuation control systems that use complex mechanical linkages to control valve actuation. Thus, the improved valve actuation control systems described herein can provide a smaller footprint, simplified coupling to valve components, and can enable a more accurate closed-loop control environment in a wide variety of valve control applications.

[0013] 1 can include a valve 105 and an actuator 110 mechanically coupled to the valve 105. The system 100 can also include an inertial sensor controller 115 communicatively coupled to the actuator 110, and a power source 120 communicatively coupled to the inertial sensor controller 115 and the actuator 110. In some embodiments, the power source 120 can be configured within or provided by the inertial sensor controller 115.

[0014] The valve 105 may include various valves, such as, but not limited to, a rotary valve, a globe valve, a butterfly valve, a ball valve, and a gate valve. The valve 105 may include an inlet 125 through which fluid enters the valve 105 and an outlet 130 through which fluid exits the valve 105. Fluid may flow along a flow path F between the inlet 125 and the outlet 130. The valve 105 may be configured to control the fluid flowing through the valve 105 by an actuator 110 that acts to open and close the valve 105. The controller 115 may generate and provide a control signal to the actuator 110, which may cause the actuator 110 to actuate a portion of the valve, such as a valve stem, to open or close the valve. The actuator 110 may be an electromechanical component, including, for example, a motor coupled to a valve stem 135 of the valve 105. In some embodiments, the actuator 110 may include a pneumatic actuator or a hydraulic actuator. One or more sensors 140 may be coupled to the valve stem 135 or disposed adjacent to the valve stem 135. Actuation of the actuator or motor can translate the valve stem 135 such that the plug 145 of the valve 105 opens or closes the valve. In some embodiments, actuation of the actuator 110 or motor can rotate the valve stem 135 to open or close the valve 105. A variety of non-limiting valve 105 and valve stem 135 configurations can be included in the system 100 without departing from the subject matter described herein. In some embodiments, the flow path F, inlet 125, and outlet 130 can be arranged opposite to that shown in the valve 105 of FIG. 1 .

[0015] 2, the actuator 110 may be coupled to an inertial sensor controller 115. The inertial sensor controller 115 may generate and provide a control signal to the actuator 110. A valve stem 135 may mechanically couple the actuator 110 to the valve 105. The valve stem 135 may be coupled to a valve plug 145, which may be disposed between the inlet 125 and the outlet 130 of the valve 105. Rotation or translation of the valve stem 135 may cause rotation or movement (e.g., translation) of the valve plug 145 to control the flow of fluid through the valve 105. In some embodiments, the actuator 110 may be a pneumatic actuator, a mechanical actuator, or an electrically driven actuator.

[0016] The one or more sensors 140 of the valve actuation control system 100 shown in FIG. 1 can include an inertial sensor 225 as shown in FIG. 2. 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” axis). In some embodiments, the inertial sensor 225 can be an inertial measurement unit (IMU) and can include a MEMS sensor. 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 in contact with 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 position data, such as velocity data, vibration data, packing friction data, and multi-axis position data. For example, the multi-axis position data may include acceleration data and rotational rate data associated with 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 may correspond to movement of the valve stem 135 in a first direction that may open the valve 105 or a second direction that may close the valve 105. The second direction may be opposite to the first direction. The inertial sensor 225 may also include a temperature sensor 240 that may generate temperature data associated with the valve stem 135. Translation or rotation of the valve stem 135 in a first direction along the Y-axis may translate or rotate the valve plug 145 to open the valve 105. Translation or rotation of the valve stem 135 in a second direction along the Y-axis may translate or rotate the valve plug 145 to close the valve 105. The first direction may be opposite to the second direction.

[0017] 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 the computing architecture shown in FIG. 3 . For example, a power source 120 can provide power to the inertial sensor controller 115, the inertial sensor 225, and / or the actuator 110. While a single power source 120 is shown, it will be understood that multiple power sources are contemplated without limitation. The inertial sensor 225 can be positioned in contact with or adjacent to the valve stem 135 such that components of the inertial sensor 225 can sense physical attributes associated with the translation and rotation of the valve stem 135 and generate sensor data that can be provided to the inertial sensor controller 115. The sensor data can also include a clock signal received from the inertial sensor 225, which can be used to synchronize other sensor data values ​​in time. For example, the accelerometer 230, the gyroscope 235, and / or the temperature sensor 240 can generate sensor data that can be received by the interpreter 315 of the inertial sensor controller 115. In some embodiments, the interpreter 315 can be a rotational interpreter or an axis-direction interpreter. The interpreter 315 can include logic and / or executable computer-readable functions that, when executed by the controller's data processor, causes the inertial sensor controller 115 to determine sensor data values ​​corresponding to each of the X, Y, and Z axes about which the inertial sensor 225 translates or rotates (and thus also corresponding to the translation or rotation of the valve stem 135 relative to those X, Y, and Z axes). For example, acceleration and rotational rate data values ​​can be determined for each of the X, Y, and Z axes based on the sensor data received from the accelerometer 230 and the gyroscope 235, respectively.

[0018] Additionally, the interpreter 315 may process temperature data received from the temperature sensor 240 and use the temperature data to correct the raw sensor data values ​​received from the accelerometer 230 and gyroscope 235, for example, to correct axial acceleration data and rotational rate data.

[0019] The corrected sensor data may be provided from the interpreter 315 to the filter 320. In some embodiments, the filter 320 may include a Kalman filter.

[0020] The filtered sensor data may be received by an acceleration interpreter 325 (e.g., “Acc. Interpreter”) and a position interpreter 330 (e.g., “Pos. Interpreter”). For example, filtered sensor data associated with acceleration of the inertial sensor 225 along the X, Y, and Z axes may be received and further processed. Acceleration data associated with the X axis may be integrated to determine the velocity of the inertial sensor 225 (and therefore the valve stem 135). Acceleration data associated with the Y axis may be fused with the velocity corresponding to the acceleration data associated with the X axis via a first fusion algorithm, and the fused data may be stored. The acceleration data and vibration data may be stored in memory and used for maintenance, diagnosis, and / or repair of the system 100.

[0021] The filtered sensor data may be received by a position interpreter 330 (e.g., “Pos.Interpreter”). For example, filtered sensor data associated with the rotational velocity of the inertial sensor 225 along the X, Y, and Z axes may be received and further processed. The rotational velocity data associated with each of the X, Y, and Z axes may be fused via a second fusion algorithm to determine a position associated with the inertial sensor 225 (and thus the valve stem 135). The second fusion algorithm may also receive acceleration data associated with the Z axis to determine the position of the inertial sensor 225. The determined position may be provided to the first fusion algorithm. The determined position may correspond to a single axis, such as the X, Y, or Z axis, depending on the primary axis about which the valve stem 135 and the inertial sensor 225 rotate. Advantageously, the fusion algorithm may enable the position of the valve stem 135 to be determined with greater accuracy than conventional systems. For example, by fusing acceleration data with vibration data, the position of the valve stem 135 may be more accurately determined.

[0022] The determined position may be provided to checker 335 and compared to control signal 330. The control signal may be provided by a user. For example, the control signal may be 4-20 mA. In some embodiments, the control signal may be a numeric signal provided by a wireless communication protocol such as WiFi or Zigbee. The control signal may be any signal (e.g., analog or numeric) different from its source. Based on the comparison, checker 335 may adjust the determined position according to one or more valve characteristics or parameters stored in the memory of controller 115. For example, the valve characteristics or parameters may include valve type, valve flow coefficient (CV), opening pressure, valve stroke, etc.

[0023] The checker 335 can provide the corrected position value to an actuator controller 340 (e.g., Act. Controller). 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 compensator PID). The compensator PID is a feedback-based control loop mechanism widely used in industrial control systems and various other applications requiring continuously modulated control. The PID controller continuously calculates an error value e(t) as the difference between a desired setpoint (SP) and a measured process variable (PV) and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D, respectively). The corrected position value may be updated via the PID and converter of the actuator controller 340 to generate a control signal that may be provided to a signal regulator of the actuator controller 340. The signal regulator may also receive input from an actuator supply 345 and generate a control signal that is provided to the actuator 110. The signal regulator may 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 345 may include a pneumatic supply, although other actuator supply configurations are also contemplated. The control signal generated by the actuator controller 340 may cause the actuator 110 to adjust the position of the valve stem 135 to control the actuation of the valve 110.

[0024] The system 100 described herein may be configured to perform the method 400 shown in Figure 4. For example, at 410, sensor data received from the inertial sensor 225 coupled to the valve stem 135 of the valve 105 may be received by a data processor included in a controller of the system, such as the inertial sensor controller 115.

[0025] At 420, the data processor of the inertial sensor controller 115 (and / or the data processor of the actuator controller 340) can determine at least one control signal to the actuator 110 coupled to the valve stem 135 configured to rotate the valve stem in a first direction or a second direction, which can be opposite to the first direction.

[0026] At 430, the inertial sensor controller 115 can provide at least one control signal to the actuator 110. As a result, the actuator 110 can be actuated in accordance with the control signal to actuate the valve stem 135, at 440, such that the valve 105 is opened or closed based on the at least one control signal.

[0027] FIG. 5 is a block diagram 500 of a computing system 510, such as the inertial sensor controller 115 configured to control valve actuation via the inertial sensor 225 shown and described in connection with FIGS. 1-4. Generally, the computing system 510 includes at least one processor 550 for performing actions according to instructions and one or more memory devices 560 and / or 570 for storing instructions and data. The illustrated exemplary computing system 510 includes one or more processors 550 in communication with the memory 570 and with at least one network interface controller 520 via a bus 515, the network interface controller 520 having a network interface 525 for connecting to external devices, such as the 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, or the like. The one or more processors 550 also communicate with each other, any I / O devices in one or more I / O interfaces 540, and any other devices 580 via the bus 515. The illustrated processor 550 incorporates or is directly connected to a cache memory 560. Generally, the processor executes instructions received from 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 web-based microservices environment.

[0028] More specifically, processor 550 may be any logic circuitry that processes instructions, e.g., instructions fetched from memory 570 or cache 560. In many embodiments, processor 550 is an embedded processor, a microprocessor unit, or a special-purpose processor. Computing system 510 may be based on any processor capable of operating as described herein, e.g., a suitable digital signal processor (DSP) or set of processors. In some embodiments, processor 550 may be a single-core or multi-core processor. In some embodiments, processor 550 may be comprised of multiple processors. For example, in some embodiments, multiple processors may be communicatively coupled and configured to accelerate one or more fusion algorithms included in computing system 510, such as interpreters 315, 325, 330 described in connection with FIG. 3 . In some embodiments, computing system 510 may include one or more graphics processing units (GPUs) configured to accelerate one or more fusion algorithms included within computing system 510. The fusion algorithms may be configured on one or more GPUs.

[0029] The memory 570 can be any device suitable for storing computer-readable data. The memory 570 can be a device with fixed storage 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.

[0030] Cache memory 560 is generally a form of high-speed computer memory located in close proximity to processor 550 for fast read / write times. In some implementations, cache memory 560 is part of processor 550 or on the same chip as processor 550.

[0031] The network interface controller 520 manages data exchange through the network interface 525. The network interface controller 520 handles the physical, medium access control, and data link layers of the Open Systems Interconnect (OSI) model for network communication. In some implementations, some of the network interface controller's tasks are handled by the processor 550. In some implementations, the network interface controller 520 is part of the processor 550. In some implementations, the computing system 510 has multiple network interface controllers 520. In some implementations, the network interface 525 is a connection point for a physical network link, such as an RJ45 connector. In some 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 or wireless link to the network interface 525. In some implementations, the network interface controller 520 implements network protocols such as LTE, TCP / IP Ethernet, IEEE 802.11, IEEE 802.16, Bluetooth, and the like.

[0032] Other computing devices 530 may be connected to computing system 510 via network interface port 525. Other computing devices 530 may be peer computing devices, network devices, servers, or any other computing devices with network capabilities. For example, computing device 530 may be a second controller (e.g., Act. Controller 340) of actuator 110, a second inertial sensor 225, a second computing device, or a server. In some embodiments, computing device 530 may be a network device such as a hub, bridge, switch, or router that connects computing system 510 to a data network such as the Internet.

[0033] In some applications, I / O interface 540 supports input and / or output devices (not shown). In some uses, input and output devices are integrated into the same hardware, such as a touchscreen. In some uses, such as a server context, there is no I / O interface 540, or I / O interface 540 is not used. In some uses, additional other components 580 communicate with computer system 510, for example, with external devices connected via a universal serial bus (USB).

[0034] Other devices 580 may include I / O interface 540, an external serial device port, and any additional coprocessors. For example, computing system 510 may include interfaces (e.g., a Universal Serial Bus (USB) interface, etc.) for connecting input devices (e.g., a keyboard, microphone, mouse, or other pointing device), output devices (e.g., a video display, speakers, a refreshable Braille terminal, or a printer), or additional memory devices (e.g., a portable flash drive or external media drive). In some implementations, an I / O device, e.g., a touchscreen on a tablet device, is integrated into computing system 510. In some implementations, computing device 510 includes additional devices 580, such as a coprocessor, e.g., a mathematical coprocessor that can assist processor 550 with high-precision or complex calculations.

[0035] Exemplary technical effects of the systems, devices, and methods for valve control actuation via inertial sensors described herein include, by way of non-limiting example, improved valve actuation and operation. By providing inertial sensors coupled to actuating valve components, the valve systems described herein can include fewer mechanical linkages, reducing the complexity of the valve actuation control system. This can reduce the need for complex inventory control system parts, assembly methods, and maintenance equipment. The improved valve actuation systems described herein can further provide more accurate valve control by integrating acceleration, rotational speed, and temperature into the determined control signal, compared to existing control systems that may not include or consider temperature variations in providing the control signal. The improved valve actuation control systems, devices, and methods enable valves to achieve tighter operating parameters for opening, closing, or modulating the valve. Furthermore, the valve actuation control systems can be coupled to existing valves as a retrofit assembly, allowing operators to easily upgrade complex mechanical linkage control systems to more accurate inertial valve control systems with a reduced operating footprint.

[0036] The subject matter described herein can be implemented in analog electronic circuitry, digital electronic circuitry, and / or computer software, firmware, or hardware, or combinations thereof, including the structural means disclosed herein and their structural equivalents. The subject matter described herein can also be implemented as one or more computer program products, such as one or more computer programs tangibly embodied in an information carrier (e.g., in a machine-readable storage device) or embodied in a propagated signal, for execution by or to control the operation of a data processing apparatus (e.g., a programmable processor, a computer, or multiple computers). Computer programs (also known as programs, software, software applications, or code) can be written in any form of programming language, including compiled or interpreted languages, and can be deployed in any form, such as as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program does not necessarily correspond to a file. A program can be stored as a portion of a file that holds other programs or data, in a single file dedicated to the program, or in multiple coordinated files (e.g., files storing one or more modules, subprograms, or portions of code). A computer program can be deployed to be executed on one computer, on multiple computers at one site, or distributed across multiple sites and interconnected by a communications network.

[0037] The processes and logic flows described herein, including method steps of the subject matter described herein, may be performed by one or more programmable processors executing one or more computer programs to perform functions of the subject matter described herein by operating on input data and generating output. The processes and logic flows may also be performed by special purpose logic circuitry, such as an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit), and apparatus of the subject matter described herein may be implemented as such special purpose logic circuitry.

[0038] Processors suitable for executing a computer program include, by way of example, both general-purpose and special-purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor receives 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. Generally, a computer also includes one or more mass storage devices, such as magnetic, magneto-optical, or optical disks, for storing data, or is operatively coupled to receive data from, transfer data to, or both. Information carriers suitable for embodying computer program instructions and data include all forms of non-volatile memory, including, by way of 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 memory may be supplemented by, or incorporated in, special-purpose logic circuitry.

[0039] To provide for interaction with a user, the subject matter described herein may be implemented on a computer having a display device, such as a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information to the user, as well as a keyboard and pointing device (e.g., a mouse or trackball) by which the user may provide input to the computer. Other types of devices may also be used to provide interaction with a 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 from the user may be received in any form, including acoustic, speech, or tactile input.

[0040] The techniques described herein may 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 interpreted as software that is not implemented in hardware, firmware, or recorded on a non-transitory, processor-readable, recordable storage medium (i.e., a module is not software itself). Indeed, a “module” should always be interpreted to include at least some physical, non-transitory hardware, such as a processor or part 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 can be combined, integrated, separated, and / or replicated to support various applications. Also, functionality described herein as being performed by a particular module may be performed by one or more other modules and / or by one or more other devices instead of, or in addition to, the functionality performed by the particular module. Furthermore, modules may be implemented across multiple devices and / or other components, local or remote from each other. Additionally, modules can be moved from one device and added to another device and / or incorporated into both devices.

[0041] The subject matter described herein may be implemented in a computing system that includes back-end components (e.g., data servers), middleware components (e.g., application servers), or front-end components (e.g., client computers having a graphical user interface or web browser through which a user can interact with an implementation of the subject matter described herein), or any combination of such back-end, middleware, and front-end components. The components of the system may 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"), e.g., the Internet.

[0042] Certain exemplary embodiments have been 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 illustrated in the accompanying drawings. Those skilled in the art will understand that the systems, devices, and methods explicitly described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments, and that the scope of the present invention is defined only by the claims. Features illustrated 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. Furthermore, in this disclosure, like-named components of embodiments generally have similar features, and therefore, each feature of each like-named component within a particular embodiment has not necessarily been fully described in detail.

[0043] As used herein throughout the specification and claims, approximation may be applied to modify any quantitative expression that may be permissibly varied without resulting in a change in the basic function to which it relates. Thus, a value modified by one or more terms, such as "about," "approximately," and "substantially," is not limited to the exact value specified. In at least some instances, approximation may correspond to the precision of the instrument used to measure the value. Range limitations may be combined and / or interchanged throughout the specification and claims, but such ranges are identified and include all subranges contained therein unless the context or language dictates otherwise.

[0044] Those skilled in the art will appreciate further features and advantages of the present invention based on the above-described embodiments. Accordingly, the present application is not to be limited by what has been particularly shown and described, except as indicated by the appended claims. All publications and references cited herein are expressly incorporated by reference in their entirety.

Claims

1. 1. A system comprising: a valve comprising an inlet, an outlet, and a plug positioned between the inlet and the outlet, the plug coupled to a stem configured to cause the plug to translate or rotate in a first direction to open the valve, or to translate or rotate in a second direction opposite the first direction to close the valve; an actuator coupled to the stem; an inertial sensor coupled to the stem; a controller coupled to the inertial sensor and the actuator, the controller comprising 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 control signals that are provided to the actuator, the control signals causing the actuator to translate or rotate the stem in the first direction or the second direction.

2. The system of claim 1 , wherein the actuator comprises a pneumatic actuator, a mechanical actuator, or an electrically driven actuator.

3. The system of claim 1 , wherein the inertial sensor comprises at least one accelerometer and at least one gyroscope.

4. The system of claim 1 , wherein the sensor data corresponds to a translation or rotation of the stem in the first direction or the second direction and includes velocity data, vibration data, packing friction data, and multi-axis position data.

5. The system of claim 4 , wherein the multi-axis position data includes acceleration data and rotational velocity data corresponding to the translation or rotation of the stem in the first direction or the second direction.

6. The system of claim 4 , wherein the acceleration data and the rotational velocity data are related to translation or rotation of the stem along an X-axis, a Y-axis, and / or a Z-axis of the stem.

7. The system of claim 1 , further comprising a temperature sensor coupled to the stem and the controller, wherein the sensor data further comprises temperature data associated with the stem.

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

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

10. The system of claim 1 further comprising a power source coupled to the actuator and the inertial sensor.

11. 1. A method comprising: 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 comprising an inlet, an outlet, and a plug positioned between the inlet and the outlet, the stem configured to cause the plug to translate or rotate in a first direction to open the valve, or to translate or rotate in a second direction opposite the first direction to close the valve; determining, by the at least one data processor of the controller, based on the received sensor data, at least one control signal to an actuator coupled to the stem configured to translate or rotate the stem in the first direction or the second direction; providing, by the at least one data processor, the at least one control signal to the actuator based on the determining; and and opening or closing the valve based on the at least one control signal.

12. The method of claim 11 , wherein the actuator comprises a pneumatic actuator, a mechanical actuator, or an electrically driven actuator.

13. The method of claim 11 , wherein the inertial sensor comprises at least one accelerometer and at least one gyroscope.

14. The method of claim 11 , wherein the sensor data corresponds to a translation or rotation of the stem in the first direction or the second direction and includes velocity data, vibration data, packing friction data, and multi-axis position data.

15. The method of claim 14 , wherein the multi-axis position data includes acceleration data and rotational velocity data corresponding to the translation or rotation of the stem in the first direction or the second direction.

16. The method of claim 14 , wherein the acceleration data and the rotational velocity data are related to translation or rotation of the stem along an X-axis, a Y-axis, and / or a Z-axis of the stem.

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

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

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

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

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