智能型电动执行器应具有哪些品质

电动执行器基础知识:一款智能电动执行器应具有的品质
The basic knowledge of the electric actuator : what qualities should a smart electric actuator have

随着微电子、计算机、通信网络技术和机电一体化技术的迅速发展，20世纪90年代以后，上出现了智能电动执行器。它是一种新型带有微处理器的智能终端执行元件。从此，智能化已形成执行器发展的总趋势，尽快了解智能电动执行器的发展状况非常必要。
With the rapid development of microelectronics, computers, communication network technology and mechatronics technology, smart electric actuators have emerged internationally since the 1990s. It is a new intelligent terminal actuator with a microprocessor. Since then, intelligence has formed the general trend of the development of actuators and it is necessary to understand the development status of intelligent electric actuators as soon as possible.

（多回转罗托克电动执行器）

一、智能电动执行器及特点
Ⅰ,intelligent electric actuator and its characteristics
近年来，电动执行机构获得了快速发展，国内外一些厂商相继推出带现场总线通信协议的智能电动执行器。新型智能电动执行器利用微机和现场总线通信技术将伺服放大器与执行机构合为一体，不仅实现了双向通信、PID调节、在线自动标定、自校正与自诊断等多种控制技术要求的功能，还增设了行程保护、过力矩保护、电动机过热保护、断电信号保护、输出现场阀位指示和故障报警等功能。它可进行现场操作或远方操作，完成手动操作及手动／自动之间无扰动切换。
In recent years, electric actuators have gained rapid development. Some domestic and foreign manufacturers have successively launched smart electric actuators with fieldbus communication protocols. The new intelligent electric actuator uses a microcomputer and fieldbus communication technology to integrate the servo amplifier and the implementing agency. It not only realizes functions of various control technology requirements such as bidirectional communication, PID adjustment, on-line automatic calibration, self-calibration and self-diagnosis, but also adds functions such as stroke protection, over-torque protection, motor overheat protection, power-off signal protection, output on-site valve position indication and fault alarm. It can perform on-site operation or remote operation, and complete manual operation and manual/automatic bumpless switching.

电动执行器采用了新颖结构部件。伺服放大器中采用了微处理器系统，所有控制功能均可通过编辑实现，还具有数字通信接口，从而具有HART协议或现场总线通信功能，成为现场总线控制系统中的一个节点。有的伺服放大器中还采用变频器技术，可更有效控制伺服电机动作。减速器采用新颖传动结构，运行平稳，传动效率高，无爬行，摩擦小。位置传送器采用新技术和新方法，有的采用霍尔效应传感器，直接感应阀杆的纵向或旋转动作，实现了非接触式定位检测；有的采用特殊电位器，电位器中装有球轴承和特殊导电材质做成的电阻薄片；有的采用磁阻效应的非接触式旋转角度传感器。
Intelligent electric actuators use novel structural components. A microprocessor system is used in the servo amplifier. All control functions can be edited, and it also has a digital communication interface so that it possesses a HART protocol or a fieldbus communication function, which makes it become a node in the fieldbus control system. Some servo amplifiers also use inverter technology to more effectively control servo motor motion. The speed reducer adopts a novel transmission structure, which has stable operation, high transmission efficiency, no creep, and low friction. The position transmitter adopts new technology and new methods. Some use Hall-effect sensors and directly sense the longitudinal or rotational motion of the valve stem, which realizes non-contact positioning detection. Some use special potentiometers, and potentiometers are equipped with ball bearings and resistance sheets made of special conductive materials; some use non-contact rotary angle sensors with magnetoresistance effects.

（角行程罗托克电动执行器）

电动执行器通常都有液晶显示器和手动操作按钮，用于显示各种状态信息和输入组态数据以及手动操作等。
Intelligent electric actuators usually have LCD monitor and manual operation buttons, for displaying various status information, inputting configuration data, and manual operations, etc.

1、智能型电动执行器与传统电动执行器相比，主要有如下特点。
Ⅰ,Compared with conventional electric actuators, smart electric actuators mainly have the following features.

（1）主要参数技术指标*，如工作死区、基本误差、回差等指标已达到或接近*水平，超过国内现有DDZ一Ⅱ、Ⅲ型电动执行器。
(1) The main parameters technical indicators are advanced , such as working dead zone, basic error, return difference and other indicators, which all have reached or approached the world advanced level, and DDZ-II, III-type electric actuators have exceeded the existing domestic standard.
（2）采用*微机和数字显示技术，以智能伺服放大器取代传统伺服放大器，以数字式操作器取代原有模拟指针式操作器，解决了数字显示跳动频繁而造成人眼疲劳的问题。
(2) Using advanced microcomputers and digital display technology, intelligent servo amplifiers have replaced traditional servo amplifiers, and digital operators have replaced the original analog pointer operators. This has solved the problem of eye fatigue caused by frequent digital display beating.
（3）功能强、使用方便，具有自诊断、自调整和PI调节等功能，尤其是PI调节功能可省去前级调节器，直接接受变送器信号。
(3) Smart electric actuators possess merits such as strong function and easy to use, with self-diagnosis, self-adjustment and PI adjustment and other functions. Especially the PI adjustment function can eliminate the pre-regulator and directly accept the transmitter signal.

（4）增加了流量特性软件修正。采用微处理机后，能灵活地设定、改变流量特性，提高调节阀控制性能，使一种固有特性的调节阀可以拥有多种输出特性，使不能进行阀芯形状修正(蝶阀)的阀也可改变流量特性，可以使非标准特性修正为标准特性，该功能将改变长期以来靠阀芯加工修正流量特性的现状。
(4) Added flow rate software corrections. After the microprocessor is used, the flow characteristics can be flexibly set and changed to improve the control performance of the regulating valve, so that an inherently characteristic regulating valve can have a variety of output characteristics. By this way, it can also make valves that are not capable of spool shape correction (butterfly valves)  change the flow characteristics, and can correct non-standard characteristics to standard features that will change the status of long-term correction of flow characteristics by spool processing.
（5）在调节中采用电制动和断续调节技术，对具有自锁功能的执行机构可取消机械摩擦制动器，提高了整机的可靠性。
(5) The electric brake and intermittent adjustment technology are used in the adjustment. The actuator with self-locking function can eliminate the mechanical friction brake to improve the reliability of the whole machine.
（6）三相放大器的设计采用有单相智能伺服放大器外接三相功率转换器的组合式方案，方便了生产和备料，为控制室不进三相电源的控制提供了可能。
(6) The design of the three-phase amplifier adopts the combined scheme of the single-phase intelligent servo amplifier external connection of the three-phase power converter, which facilitates the production and stock preparation, and provides the possibility for the control room not to control the three-phase power supply.

（直行程罗托克电动执行器）

二、几种典型的智能电动执行器
Ⅱ. Several typical intelligent electric actuators

1.QT智能型电动执行器
1.QT Intelligent Electric Actuator

（QT电动执行器）

QT智能型电动执行器采用现代单片MCU和外围芯片组成控制单元，接受统一标准直流信号，经过运算处理后，终驱动交流电机输出与之相对应的直线位移。该机构可方便与调节阀配套成自动调节阀，具备调节阀本身所要求的各种动作变化功能，适用于电力、冶金、石油、化工及轻工等工业部门。其主要特点如下。
I.intelligent electric actuator adopts a modern high-efficiency single-chip MCU and peripheral chips to form a control unit. It accepts a unified standard DC signal, and after the operation processing, it finally drives the linear displacement of the AC motor output. The mechanism is convenient to combine with a regulating valve as an automatic regulating valve, and has various action change functions required by the regulating valve itself, and is applicable to electric power, metallurgy, petroleum, chemical and light industry and other industrial sectors. Its main features are as follows:
（1）以单相交流220V或者380V电源为动力。
  (1) Take single-phase AC 220V power supply as its driving power.
（2）采用高性能导电塑料电位器为位置传感器，度高、寿命长。
  (2) High-performance conductive plastic potentiometer is used as a position sensor with high accuracy and long life.
（3）用永磁式交流同步电机做驱动电机，短时问超负荷情况下不会损坏。
  (3) The permanent magnet type AC synchronous motor is used as a drive motor, which will not be damaged in a short time under overload condition.
（4）内置记忆芯片于控制部件，在输入电压低于额定电压前的瞬间，自动记下现场数据，当输入电压恢复正常后，能保证系统继续工作。
(4) The built-in memory chip in the control part automatically records the field data immediately before the input voltage is lower than the rated voltage. When the input voltage returns to normal, the system can continue to work.
（5）备有标准RS一485通信口。
(5) Standard RS-485 communication port is provided.
（6）除自动跟踪输入信号实现阀门的开度操作外，也可在现场以手动操作按键方式电动改变阀门开度。
(6) In addition to the automatic tracking of the input signal to achieve the opening degree of the valve, it is also possible to change the opening degree of the valve electrically in the scene by manually operating the key.
（7）当执行机构控制电路中MCU发出开或关的命令后，执行机构在6S内不动作，将被判定为电机堵转，同时显示器出现闪烁，并停止发出开或关命令，执行机构将停止运行。直到仪表被复位后，才可再次投入使用。
(7) When the MCU in the actuator control circuit issues an on or off command, the actuator does not act within 6 seconds and it is determined that the motor is stalled. Simultaneously, At the same time the display flashes and stops issuing an on or off command and the actuator will stop operating. Do not use the instrument until it is reset.
（8）仅配上输入信号线及单相交流电源线即可控制运转而无需另配伺服放大器。
(8) Only the input signal line and single-phase AC power line can be connected to control the operation without the need of an additional servo amplifier.
（9）该执行器设计成全封闭式，防尘、防水。采用MCU控制，无需开盖，就可进行机械行程设定，输入信号标定，且操作简单、方便。
(9) The actuator is designed to be fully enclosed, dustproof and waterproof. With MCU control, mechanical stroke setting, input signal calibration, and simple and convenient operation can be performed without opening the cover.

2.伯纳德系列智能电动执行器
2.Bonard series smart electric actuator

（伯纳德电动执行器）

伯纳德系列为数字调节型一S2控制模式，伯纳德系列为连续调节型一S4控制模式。它们采用机械自锁的蜗轮、蜗杆结构，三相电机变频驱动和智能化监控、数字检测技术，其运行速度和力矩可在线和离线宽范围设定，标准化程度高。具有功能强大，使用简单和维护量小的特点，配上不同减速装置，可输出角位移(力矩可达40000Nm)和直线位移(推力可达80kN)，驱动各类阀体或挡板。其主要特点如下。
The Bonard series is a digitally regulated S2 control mode, and the Bonard series is a continuously regulated S4 control mode. They adopt mechanical self-locking worm gear, worm structure, three-phase motor variable frequency drive and intelligent monitoring, digital detection technology, and its operating speed and torque can be set in a wide range online and offline, with a high degree of standardization. With powerful features, simple use and low maintenance, coupled with different deceleration devices, it can output angular displacement (torque up to 40000Nm) and linear displacement (thrust up to 80kN) to drive various valve body or baffle. Its main features are as follows.
（1）高度智能化设计，位移、力矩、速度等微处理器现代控制技术，组态灵活，功能强大。
  (1) Highly intelligent design, displacement, torque, speed and other all-round microprocessor modern control technology, flexible configuration and powerful functions.
（2）电子化、数字化霍尔传感器检测，度高、可靠性强、稳定性好、抗*力强；复合传感，位移、速度和转向由同一传感器检测。
 (2) Electronic, digital hall sensor detection has advantages, including high accuracy, reliability, good stability, strong anti-interference ability; composite sensing, displacement, speed and steering detected by the same sensor.
（3）组态方法有本机控制、遥控或系统在线3种方式，简化了调试和设置操作。
 (3) Configuration methods include three ways of local control, remote control or system online, which simplifies debugging and setting operations.
（4）电机速度、负载变频控制，不受电源电压波动影响，同一产品应用面宽，备品少，
 (4) The motor speed and load frequency control are not affected by the fluctuation of the power supply voltage. The width of the application of the same product is small, and there are few spare parts.

（5）高可靠设计，电子化监控、诊断、报警等，功能齐备，正常工作参数值为报警保护值的一半：电子参数调控型代替原机械额定值型，大大提高了执行机械可靠性、可控性和寿命。
  (5) High-reliable design, electronic monitoring, diagnosis, alarm, etc., full-featured, normal working parameter value is half of the alarm protection value: Electronic parameter control type replaces the original mechanical rating type, which greatly improves the execution of mechanical reliability. Controlled and longevity.
（6）输入、输出方式组态灵活，数字量、脉冲量、模拟量和现场总线方式根据需要选配，具有广泛的适用性。
 (6) The input and output modes are flexible in configuration. The digital quantity, pulse quantity, analog quantity and field bus method are matched according to the needs and have wide applicability.
（7）定位平稳，反向、减速制动，平滑定位。
 (7) Smooth positioning, reverse, deceleration and smooth positioning.
（8）蜗轮、蜗杆机械传动结构，具有逆向自锁特性，电机无需刹车，维护量小。
 (8) Worm gear, worm mechanical transmission structure, with reverse self-locking characteristics, the motor does not require brakes, maintenance is small.
（9）防护等级IP67，可选IP68。
  (9) Protection class IP67, optional IP68.

3.罗托克系列智能电动执行器
3. IQ series electric actuators

（IQ电动执行器）

IQ系列智能电动执行器与普通执行器相比具有如下特点：
Compared with ordinary actuator, IQ series electric actuators possess the following features:
（1）便利的参数遥控设定功能。投入使用前，只要使用由厂家提供的设定工具，对准执行器就可进行参数的遥控设定。不仅简化了设定工作程序，还提高了设备安全运行性，特别是那些要求防爆的场所尤为重要。
  (1) Convenient parameter remote setting function. Before use, as long as the use of a dedicated set of tools provided by the manufacturer, the actuator can be set parameters remotely. It not only simplifies the setting of working procedures, but also improves the safe operation of the equipment, especially those places that require explosion protection are particularly important.

（2）丰富的在线显示功能。采用液晶显示技术，利用内置式液晶显示板，不仅可准确显示阀门开、关状态和正常阀门开度等，且在参数设定或执行器有故障时，也能显示出重要信息。
  (2) Rich online display function. The use of liquid crystal display technology and built-in liquid crystal display panel, not only can accurately display the valve opening and closing state and the normal valve opening, etc., and in the parameter setting or actuator failure, it can also display important information.
（3）完善的自诊断及保护功能。它可在线诊断出伺服电机过载、过热情况及电源的状态等，还能自动识别三相电源相位，紧急情况时，执行器可保位或运行到预先设定的安全位置。
(3) Perfect self-diagnosis and protection functions. It can diagnose the servo motor overload, overheat condition and power supply status online. It can also automatically recognize the phase of the three-phase power supply. In case of an emergency, the actuator can be stored or moved to a preset safe position.
（4）*的控制功能。采用了计算机技术，把*自动跟随控制技术设计为它的一项标准功能。执行器响应速度与实际要求偏差大小成比例，即所谓的“变速控制”，大大提高了执行器响应品质。
(4) Advanced control functions. Using computer technology, advanced automatic following control technology was designed as one of its standard features. The response speed of the actuator is proportional to the actual demand deviation, which is the so-called "variable speed control", which greatly improves the actuator response quality.
（5）较强的现场适应性。整机设计具有IP54级防护能力，且对执行器内部与外部信号接I=1也都采用光电隔离技术，提高了可靠性，特别是执行器内部控制卡件采用了防震固定法，所有接插件都带有“反扣”以防松动，积木式结构使维修非常方便。
(5) Strong field adaptability. The whole design has IP54 protection, and the isolation between the internal and external signal of the actuator I=1 also adopts the photoelectric isolation technology, which improves the reliability. In particular, the internal control card of the actuator adopts the anti-seismic fixing method, and all connectors. All have "reverse buckles" to prevent loosening, and the modular structure makes maintenance very convenient.

三、智能电动执行器的发展趋势
Ⅲ, the development trend of the smart electric actuator
综上所述，智能电动执行器的发展趋势可以归纳为：机电一体化结构逐步取代组合式结构，智能化控制技术逐步取代纯电子控制技术，带通信技术功能的逐步取代不带通信技术的，数字控制方式逐步取代传统的模拟控制方式，运用红外遥控的非接触式调试技术逐步取代接触式手动调试技术，等等。
In summary, the development trend of intelligent electric actuators can be summarized as: The mechatronics structure gradually replaced the modular structure, and intelligent control technology gradually replaced pure electronic control technology. Functions without communication technology are gradually replaced by functions with communication technology, digital control methods have gradually replaced traditional analog control methods, using infrared remote control non-contact debugging technology to gradually replace contact-type manual debugging technology, and so on.
当智能电动执行器与现场总线连接时，智能执行器就成了现场总线控制系统(F)中的一块现场仪表，这时它不仅具有执行器功能，还具有控制、运算和通信等功能。由此可见，我国目前新一代符合现场总线的智能电动执行器产品，是执行机构今后发展的必然趋势，它的成功研究与应用给电动执行器的进一步发展打下了良好的基础，并将给智能电动执行器带来广阔的市场发展前景。
 When the intelligent electric actuator is connected to the field bus, the smart actuator becomes a field instrument in the field bus control system (F). At this time, it not only has an actuator function, but also has functions of control, calculation, and communication. It can be seen that China's current generation of smart electric actuator products that comply with the fieldbus is an inevitable trend for the implementation of future development agencies, its successful research and application laid a good foundation for the further development of electric actuators, and will give intelligence Electric actuators bring a broad market prospect.