Large flow of Electromechanical unifinication intelligence is dynamoelectric the research of actuator

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1 foreword is in control of modern production process, actuator is having very main effect, it is the indispensable component in automation system. Dynamoelectric actuator existence wears existing homebred large flow control step is backward, rigid main transfer machinery much, structure precision of complex, fixed position the problem such as low, dependability difference. And the whole journey traversal speed of actuator depends on the decelerate of the take-off rotate speed of its electric machinery and gear of its interior decelerate is compared, once leave factory, this one rate is fixed cannot adjust, its versatility is weaker. The protection with whole orgnaization perfect lack and breakdown diagnose measure and necessary communication step, systematic security is poorer, inconvenience and computer couplet net. In view of above reason, the large flow that uses a convention is dynamoelectric the control system of actuator, dependability and stability are poorer. Be in as the technology such as bus line of computer network, spot the application in industrial procedure, this kind of actuator already cannot satisfy the requirement that industry produces far. The large flow that the author devises is dynamoelectric actuator, use Electromechanical unifinication technology, add up to electric machinery of valve, servo, controller for an organic whole, use asynchronous motor of direct drive valve with close. Pass inside buy transducer, use ambiguous nerve network, the behavioral rate that achieves valve, exact location, flexible the control such as switch and electric machinery torsion. This dynamoelectric actuator leave out use at dominating electric machinery, inverting contactor and module of commutator of silicon controlled rectifier, mechanical gearing and complex, costly control ark and distribution ark, have an action fast, protection is more perfect, facilitate and the advantage such as computer couplet net. Move actually make clear, this actuator work is steady, function is reliable. Block diagram of principle of system of dynamoelectric actuator control is like the hardware design of 2 dynamoelectric actuator and working principle graph 2-1 place is shown. Intelligent actuator basically is divided from the structure to control part and executive drive share. Control part is main by sheet piece passageway of output of module of changeover of A of ／ of D of ／ of inverter of generator of wave of machine, PWM, IPM, A, D, rectification module, input, breakdown detects and call the police the composition such as circuit. Executive drive part basically includes three-phase wait to sign up for electric machinery and positional sensor. Systematic work principle: The positional signal that the inversion module three-phase that sensor of suddenly Er electric current, voltage and positional sensor detect outputs electric current, voltage and valve, via A ／ D changeover evacuation enters sheet piece machine. Odd a machine pass generator of wave of 8255 control PWM, the action of coupling of photoelectricity of PWM wave classics of generation changes at going against module IPM, realize the frequency control of electric machinery and position control of a powerful person. The volts d.c. signal that when inversion module works, needs is undertaken to 380V power source by rectification circuit complete bridge commutate gets. Control a system the type selecting of each function component and design: 1) odd a machine the 8031 sheet that choose INTEL company production piece machine, it basically loads the signal processing that controls a system 8255 times through running paralell: Receive a system to be opposite open of torsion, valve, shut reach valve to leave degree wait for set signal, provide the control signal that generator of three-phase PWM wave needs; Process the fault signal that IPM issues and alarm signal; The electricity that processing receives through imitate input mouth, voltage, position detect signal; Provide the working status signal that shows dynamoelectric actuator; Execute the control signal that controls a system to come, to signal of control system feedback; 2) the generation of wave of PWM of generator of three-phase PWM wave has imitate and number normally two kinds of methods. Imitate law circuit is complex, have Wen Piao appearance, precision is low, limitted systematic function; Digital law is use computer cipher out according to different digital model each switch dot, stock memory, generate PWM wave through checking watch and necessary computation next, the memory that this kind of method takes up is older, the precision of unwarrantable system. The PWM wave that needs to satisfy place of intelligent power module controls signal, make sure microprocessor has what enough time has whole system to detect, the function such as protection, control, the SA8282 that MITEL company production chooses in article regards three-phase PWM as generator. SA8282 is circuit of special large scale integration, have independent standard microprocessor interface, chip interior contained the control information such as undee, frequency, amplitude. 3) IPM of intelligent inversion module to satisfy actuator bulk small, the demand with high reliability, electric machinery power source uses IPM of intelligent power module. Main and applicable power is less than this actuator 5. The three-phase asynchronous electric machinery of 5kW, its are rated voltage is 380V, power factor is 0. 75. Classics computation is knowable, the PM50RSA120 of intelligent power module that chooses Japan to produce can satisfy systematic requirement. Circuit of switch of power of market of this power module and drive circuit, apply the brake at an organic whole, and inside buy crosses electric current, short circuit, under-voltage and overheat protection and call the police output, it is a kind of high-powered power switch parts of an apparatus. 4) the position detects circuit position detects the main component that circuit is actuator, its function is to provide accurate positional signal. Crucial question is the type selecting of positional sensor. Use electric and transformer of the potentiometer that wind a string, differential, plastic potentiometer to wait more in traditional dynamoelectric actuator. Life of the potentiometer that wind a string is brief be washed out. Because differential transformer is linear the area is too short pay no attention to with temperature character want and be restricted. Electric and plastic potentiometer is current relatively popular, but it has contact, life is impossible also very long, precision is not tall also. The positional sensor that the author uses is sensor of pulse number type, this kind of sensor does not have contact, and have precision limitation of wireless sex area, stability is tall, tall, wait for a characteristic without temperature limitation. 5) voltage, electric current and detect detect voltage, electric current basically is for the moment of force of computational electric machinery, and short circuit of transducer output loop, break photograph protection and inversion module breakdown to diagnose. The frequency limits of the electricity that exports as a result of transducer and voltage is 0 ～ 50Hz, transformer of the electricity that uses convention, voltage cannot satisfy a requirement. Give voltaic size for fast report, use transformer of Huo Er electric current to detect the three phase current that IPM outputs, detect to what IPM outputs voltage use cent to press circuit. If pursue 2, 2 are shown. 6) communication interface is made to realize computer couplet net and remote programmed control, choose MAX232 to regard serial communication of the system as interface, MAX232 interior has two identical n change-over circuit, can be the TTL n changeover of 8031 serial mouth output RS - 232 standards n, the RS that delivers other personal computer - changeover of 232 standards n gives into TTL n 8031, implementation is odd the communication between a machine and other personal computer. 7) the time that when clock circuit basically uses clock circuit to offer sampling and control cycle, speedometer to calculate, needs and calendar. Clock circuit DS12887 is chosen in article. DS12887 interior has the user blame of 114 byte to break sexual RAM easily, usable will stock the data that needs be saved for a long time. 8) liquid crystal demonstrates unit to realize man-machine interaction function, choose MGLS12832 liquid crystal to show module comprises indication circuit. Use configuration to show pattern. Carry menu option, can part to the signal such as pair of valve, moment of force, spacing, electric machinery, communication and parameter undertakes installing or be debugged. Use character and the means that graphical photograph combines, show intuitionistic, clarity. 9) the system when program exceed what is proper restores circuit to issue program exceed what is proper in strong interference to assure oneself can return to normal automatically, choose MAX705 to comprise program exceed what is proper to restore circuit oneself, surveillant program moves. If pursue 2, 3 are shown, this circuit by MAX705, comprise with blame door and differentiating circuit. Working principle is: Once program exceed what is proper, WDO by become high low, as a result of the action of differentiating circuit, by " with blame " door input cites a base 2 turn into tall n, cite a base this kind of change of 2 n makes " with blame " the door outputs pulse, make odd a machine generation restoration, after restoration ends, pass P1 by the program again. 0 WDI to MAX705 bring a foot to send pulse, make WDO brings a foot to return tall n, program exceed what is proper continues to monitor the program moves from road of extensive telegram in reply. 3 a powerful person reach speed to dominate principle a powerful person or family reach speed to if pursue,control principle block diagram 3, show 1 times. Use double-loop to dominate program, among them core is speed annulus, outer shroud is positional annulus. Speed annulus basically gives current rate and rate the set rate photograph that generator delivers to compare, change frequency of carrier wave of PWM wave generator through speed adjuster, the rotate speed that realizes electric machinery adjusts. Speed adjuster uses ambiguous nerve network to control algorithm (specific content other article is narrated) . Outer shroud is main the set according to current position speed, give generator to offer the set of speed to be worth to core through speed. Because actuator of big flow valve is running the existence in the process,quicken, divide evenly fast, the phase such as decelerate. The size of the time length of each phase, acceleration, in why the position begins divide evenly fast or decelerate all with to emplacement, current position and traversal speed are concerned. Speed gives the working principle of generator to be: Through comparing real a powerful person with give a powerful person, when both is unequal, with constant acceleration is quickened, decelerate dot foundation is current speed, a powerful person value, a powerful person the size consideration of set-point must come. Actuator the computational principle of each phase traversal speed pursues 3, the graphs of 2 typical traversal speed that are actuator, it by a certain number of paragraph the broken line composition with metabolic different rate. Called what the rate on the curve begins to produce a change that initiative paragraph dot, corresponding time calls paragraph of initiative time, if pursue 3, 2 medium T (I) (I ＝ 0, 1, 2, ... ) , corresponding rate calls paragraph of initial rate, if pursue 3, 2 show V (I) (I ＝ 0, 1, 2, ... ) . Set I paragraph the metabolic rate of speed is Ki, have: In type: Δ V nods the rate change value between for two paragraphs, ＋ of Vi of Δ V ＝ 1 - Vi; Δ T is two paragraphs of time between, ＋ of Ti of Δ T ＝ 1 - Ti. Apparent, when Ki ＝ 0 Shi Weiheng fast paragraph, ki ＞ 0 when to rise fast paragraph, ki ＜ 0 when for decelerate paragraph. The speed set-point of aleatoric hour is: Ts is sampling cycle. The extraction of metabolic rate Ki is worth decide by the size that gives the position, current position and traversal speed. The settlement of issue of 4 crucial technologies this are dynamoelectric actuator used newest frequency control technology, power of electric machinery drive is less than 5. 5kW. User but the basis needs character of set moment of force, according to rate of set of pilot a powerful person, speed cent turns type, vertical distance, role tenor 3 kinds of means. Control a system by a powerful person give and a powerful person the closed circuit system that feedback signal makes, control character inspects run mode, speed and decide, have shed protection, overload protection automatically too, super- pressure, owe pressure, overheat, be short of photograph, locked-rotor to wait for protective function. The decisive technology problem that this actuator solves basically has: 1) valve is flexible switch is flexible switch basically is for be shut when a powerful person or when a standard-sized sheet, make sure valve does not get stuck dead with injury. The transducer that the microprocessor basis of actuator interior measures exports voltage and electricity, pass mathematical calculation, reach its output pitching moment. Once output the moment of force that pitching moment is achieved or is more than set, automatic slowdown, bump in order to avoid valve interior exceeding, achieve thereby best shut, had realized pitching moment protection. 2) a powerful person ultimate position judges a powerful person ultimate position is to show a standard-sized sheet is mixed close the position completely. In traditional actuator, of this position detecting is to pass mechanical spacing switch to obtain. Precision of mechanical spacing switch is low, become loose easily in move, dependability is poor. In article, position of dynamoelectric actuator maximum through detecting the increment of positional signal is obtained. Its principle is, odd a machine general detected positional signal and the signal photograph that detect last are compared, if did not produce change or change lesser, think namely oneself obtain ultimate position, cut off the power supply source of asynchronous electric machinery instantly, the safety that assures valve is shut or a standard-sized sheet. Leave out mechanical spacing switch, complex adjustment need not undertake to its when debug. 3) the implementation that electric machinery protects to prevent electric machinery because of overheat burn down, odd a machine detect continuously through temperature sensor of electric machinery run temperature actually, if temperature sensor detects electric machinery temperature is exorbitant, cut off power supply source automatically. Electric machinery of the park inside temperature sensor is in-house. 4) the dynamoelectric actuator of exact location tradition will be very fast after electrify of asynchronous electric machinery achieve its rated movement speed, should be close to when quiting the position, after electric machinery cuts off the power, because machinery is inertial, its valve stops impossibly instantly, can appear of different level exceed Cheng, this exceeds Cheng to use control electric machinery normally retrorse roll comes corrective. The large flow of Electromechanical unifinication is dynamoelectric the volume lead of current position and the poor value that give the seat and traversal speed determines actuator basis the place that decelerate chooses and decelerate paragraph metabolic rate Ki, make valve realizes accurate fine tuning and fixed position below inferior speed, will exceed Cheng to fall thereby lowest. 5) the segregation of imitate signal. To the three phase voltage of the volts d.c. of transducer and output, the address between them is abhorrent, existing taller in all modular voltage, to assure systematic security, must them each other are kept apart each other. Used LM358 and 4N25 to comprise circuit of segregation linear enlarge. If pursue 4, 1 is shown, use what ± 15V and ± 12V become independent two groups to losing power source. Be like carry to put A because disturb,carry potential instead and to deviate empty ground, carry the potential that puts A to output end will be reduced, consequently the glow intensity of photoelectricity coupler will increase, make its collect is shot extremely voltage is reduced, make carry the potential that puts A to be carried instead is reduced finally, return whack. Those who be like A carry potential to lose instead to deviate empty ground, also can return whack again. Enhanced interference rejection sex of the system thereby. Technology of personal computer of this actuator collect mixes 5 last words carry out implement technology at an organic whole, it is a kind of new-style terminal control unit, its electric machinery is to pass in-house and compositive unifinication transducer to control, accordingly, actuator of same table intelligence can be had inside certain limits different traversal speed and involve moment of force. This intelligence actuator used liquid crystal to demonstrate a skill, it is used inside the liquid crystal of buy shows board, can show valve not only, close condition and of the valve when moving normally degree, still can choose to run parameter set through menu, when systematic occurrence breakdown, can show breakdown information. Anyhow, this actuator collect is measured, make a decision, execute 3 kinds of functions at an organic whole, complied with the development trend of dynamoelectric actuator, the research development that its development gives dynamoelectric actuator successfully offerred new thinking. CNC Milling