電動(dòng)執(zhí)行器基礎(chǔ)知識(shí):一款智能電動(dòng)執(zhí)行器應(yīng)具有的品質(zhì)
The basic knowledge of the electric actuator : what qualities should a smart electric actuator have

隨著微電子、計(jì)算機(jī)、通信網(wǎng)絡(luò)技術(shù)和機(jī)電一體化技術(shù)的迅速發(fā)展，20世紀(jì)90年代以后，上出現(xiàn)了智能電動(dòng)執(zhí)行器。它是一種新型帶有微處理器的智能終端執(zhí)行元件。從此，智能化已形成執(zhí)行器發(fā)展的總趨勢(shì)，盡快了解智能電動(dòng)執(zhí)行器的發(fā)展?fàn)顩r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.

（多回轉(zhuǎn)羅托克電動(dòng)執(zhí)行器）

一、智能電動(dòng)執(zhí)行器及特點(diǎn)
Ⅰ,intelligent electric actuator and its characteristics
近年來(lái)，電動(dòng)執(zhí)行機(jī)構(gòu)獲得了快速發(fā)展，國(guó)內(nèi)外一些廠商相繼推出帶現(xiàn)場(chǎng)總線通信協(xié)議的智能電動(dòng)執(zhí)行器。新型智能電動(dòng)執(zhí)行器利用微機(jī)和現(xiàn)場(chǎng)總線通信技術(shù)將伺服放大器與執(zhí)行機(jī)構(gòu)合為一體，不僅實(shí)現(xiàn)了雙向通信、PID調(diào)節(jié)、在線自動(dòng)標(biāo)定、自校正與自診斷等多種控制技術(shù)要求的功能，還增設(shè)了行程保護(hù)、過(guò)力矩保護(hù)、電動(dòng)機(jī)過(guò)熱保護(hù)、斷電信號(hào)保護(hù)、輸出現(xiàn)場(chǎng)閥位指示和故障報(bào)警等功能。它可進(jìn)行現(xiàn)場(chǎng)操作或遠(yuǎn)方操作，完成手動(dòng)操作及手動(dòng)／自動(dòng)之間無(wú)擾動(dòng)切換。
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.

電動(dòng)執(zhí)行器采用了新穎結(jié)構(gòu)部件。伺服放大器中采用了微處理器系統(tǒng)，所有控制功能均可通過(guò)編輯實(shí)現(xiàn)，還具有數(shù)字通信接口，從而具有HART協(xié)議或現(xiàn)場(chǎng)總線通信功能，成為現(xiàn)場(chǎng)總線控制系統(tǒng)中的一個(gè)節(jié)點(diǎn)。有的伺服放大器中還采用變頻器技術(shù)，可更有效控制伺服電機(jī)動(dòng)作。減速器采用新穎傳動(dòng)結(jié)構(gòu)，運(yùn)行平穩(wěn)，傳動(dòng)效率高，無(wú)爬行，摩擦小。位置傳送器采用新技術(shù)和新方法，有的采用霍爾效應(yīng)傳感器，直接感應(yīng)閥桿的縱向或旋轉(zhuǎn)動(dòng)作，實(shí)現(xiàn)了非接觸式定位檢測(cè)；有的采用特殊電位器，電位器中裝有球軸承和特殊導(dǎo)電材質(zhì)做成的電阻薄片；有的采用磁阻效應(yīng)的非接觸式旋轉(zhuǎn)角度傳感器。
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.

（角行程羅托克電動(dòng)執(zhí)行器）

電動(dòng)執(zhí)行器通常都有液晶顯示器和手動(dòng)操作按鈕，用于顯示各種狀態(tài)信息和輸入組態(tài)數(shù)據(jù)以及手動(dòng)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、智能型電動(dòng)執(zhí)行器與傳統(tǒng)電動(dòng)執(zhí)行器相比，主要有如下特點(diǎn)。
Ⅰ,Compared with conventional electric actuators, smart electric actuators mainly have the following features.

（1）主要參數(shù)技術(shù)指標(biāo)*，如工作死區(qū)、基本誤差、回差等指標(biāo)已達(dá)到或接近*水平，超過(guò)國(guó)內(nèi)現(xiàn)有DDZ一Ⅱ、Ⅲ型電動(dòng)執(zhí)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*微機(jī)和數(shù)字顯示技術(shù)，以智能伺服放大器取代傳統(tǒng)伺服放大器，以數(shù)字式操作器取代原有模擬指針式操作器，解決了數(shù)字顯示跳動(dòng)頻繁而造成人眼疲勞的問(wèn)題。
(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）功能強(qiáng)、使用方便，具有自診斷、自調(diào)整和PI調(diào)節(jié)等功能，尤其是PI調(diào)節(jié)功能可省去前級(jí)調(diào)節(jié)器，直接接受變送器信號(hào)。
(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）增加了流量特性軟件修正。采用微處理機(jī)后，能靈活地設(shè)定、改變流量特性，提高調(diào)節(jié)閥控制性能，使一種固有特性的調(diào)節(jié)閥可以擁有多種輸出特性，使不能進(jìn)行閥芯形狀修正(蝶閥)的閥也可改變流量特性，可以使非標(biāo)準(zhǔn)特性修正為標(biāo)準(zhǔn)特性，該功能將改變長(zhǎng)期以來(lái)靠閥芯加工修正流量特性的現(xiàn)狀。
(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）在調(diào)節(jié)中采用電制動(dòng)和斷續(xù)調(diào)節(jié)技術(shù)，對(duì)具有自鎖功能的執(zhí)行機(jī)構(gòu)可取消機(jī)械摩擦制動(dòng)器，提高了整機(jī)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）三相放大器的設(shè)計(jì)采用有單相智能伺服放大器外接三相功率轉(zhuǎn)換器的組合式方案，方便了生產(chǎn)和備料，為控制室不進(jìn)三相電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.

（直行程羅托克電動(dòng)執(zhí)行器）

二、幾種典型的智能電動(dòng)執(zhí)行器
Ⅱ. Several typical intelligent electric actuators

1.QT智能型電動(dòng)執(zhí)行器
1.QT Intelligent Electric Actuator

（QT電動(dòng)執(zhí)行器）

QT智能型電動(dòng)執(zhí)行器采用現(xiàn)代單片MCU和外圍芯片組成控制單元，接受統(tǒng)一標(biāo)準(zhǔn)直流信號(hào)，經(jīng)過(guò)運(yùn)算處理后，終驅(qū)動(dòng)交流電機(jī)輸出與之相對(duì)應(yīng)的直線位移。該機(jī)構(gòu)可方便與調(diào)節(jié)閥配套成自動(dòng)調(diào)節(jié)閥，具備調(diào)節(jié)閥本身所要求的各種動(dòng)作變化功能，適用于電力、冶金、石油、化工及輕工等工業(yè)部門。其主要特點(diǎn)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）以單相交流220V或者380V電源為動(dòng)力。
  (1) Take single-phase AC 220V power supply as its driving power.
（2）采用高性能導(dǎo)電塑料電位器為位置傳感器，度高、壽命長(zhǎng)。
  (2) High-performance conductive plastic potentiometer is used as a position sensor with high accuracy and long life.
（3）用永磁式交流同步電機(jī)做驅(qū)動(dòng)電機(jī)，短時(shí)問(wèn)超負(fù)荷情況下不會(huì)損壞。
  (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）內(nèi)置記憶芯片于控制部件，在輸入電壓低于額定電壓前的瞬間，自動(dòng)記下現(xiàn)場(chǎng)數(shù)據(jù)，當(dāng)輸入電壓恢復(fù)正常后，能保證系統(tǒng)繼續(xù)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）備有標(biāo)準(zhǔn)RS一485通信口。
(5) Standard RS-485 communication port is provided.
（6）除自動(dòng)跟蹤輸入信號(hào)實(shí)現(xiàn)閥門的開(kāi)度操作外，也可在現(xiàn)場(chǎng)以手動(dòng)操作按鍵方式電動(dòng)改變閥門開(kāi)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）當(dāng)執(zhí)行機(jī)構(gòu)控制電路中MCU發(fā)出開(kāi)或關(guān)的命令后，執(zhí)行機(jī)構(gòu)在6S內(nèi)不動(dòng)作，將被判定為電機(jī)堵轉(zhuǎn)，同時(shí)顯示器出現(xiàn)閃爍，并停止發(fā)出開(kāi)或關(guān)命令，執(zhí)行機(jī)構(gòu)將停止運(yùn)行。直到儀表被復(fù)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）僅配上輸入信號(hào)線及單相交流電源線即可控制運(yùn)轉(zhuǎn)而無(wú)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）該執(zhí)行器設(shè)計(jì)成全封閉式，防塵、防水。采用MCU控制，無(wú)需開(kāi)蓋，就可進(jìn)行機(jī)械行程設(shè)定，輸入信號(hào)標(biāo)定，且操作簡(jiǎn)單、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.伯納德系列智能電動(dòng)執(zhí)行器
2.Bonard series smart electric actuator

（伯納德電動(dòng)執(zhí)行器）

伯納德系列為數(shù)字調(diào)節(jié)型一S2控制模式，伯納德系列為連續(xù)調(diào)節(jié)型一S4控制模式。它們采用機(jī)械自鎖的蝸輪、蝸桿結(jié)構(gòu)，三相電機(jī)變頻驅(qū)動(dòng)和智能化監(jiān)控、數(shù)字檢測(cè)技術(shù)，其運(yùn)行速度和力矩可在線和離線寬范圍設(shè)定，標(biāo)準(zhǔn)化程度高。具有功能*，使用簡(jiǎn)單和維護(hù)量小的特點(diǎn)，配上不同減速裝置，可輸出角位移(力矩可達(dá)40000Nm)和直線位移(推力可達(dá)80kN)，驅(qū)動(dòng)各類閥體或擋板。其主要特點(diǎn)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）高度智能化設(shè)計(jì)，位移、力矩、速度等微處理器現(xiàn)代控制技術(shù)，組態(tài)靈活，功能*。
  (1) Highly intelligent design, displacement, torque, speed and other all-round microprocessor modern control technology, flexible configuration and powerful functions.
（2）電子化、數(shù)字化霍爾傳感器檢測(cè)，度高、可靠性強(qiáng)、穩(wěn)定性好、抗*力強(qiáng)；復(fù)合傳感，位移、速度和轉(zhuǎn)向由同一傳感器檢測(cè)。
 (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）組態(tài)方法有本機(jī)控制、遙控或系統(tǒng)在線3種方式，簡(jiǎn)化了調(diào)試和設(shè)置操作。
 (3) Configuration methods include three ways of local control, remote control or system online, which simplifies debugging and setting operations.
（4）電機(jī)速度、負(fù)載變頻控制，不受電源電壓波動(dòng)影響，同一產(chǎn)品應(yīng)用面寬，備品少，
 (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）高可靠設(shè)計(jì)，電子化監(jiān)控、診斷、報(bào)警等，功能齊備，正常工作參數(shù)值為報(bào)警保護(hù)值的一半：電子參數(shù)調(diào)控型代替原機(jī)械額定值型，大大提高了執(zhí)行機(jī)械可靠性、可控性和壽命。
  (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）輸入、輸出方式組態(tài)靈活，數(shù)字量、脈沖量、模擬量和現(xiàn)場(chǎng)總線方式根據(jù)需要選配，具有廣泛的適用性。
 (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）定位平穩(wěn)，反向、減速制動(dòng)，平滑定位。
 (7) Smooth positioning, reverse, deceleration and smooth positioning.
（8）蝸輪、蝸桿機(jī)械傳動(dòng)結(jié)構(gòu)，具有逆向自鎖特性，電機(jī)無(wú)需剎車，維護(hù)量小。
 (8) Worm gear, worm mechanical transmission structure, with reverse self-locking characteristics, the motor does not require brakes, maintenance is small.
（9）防護(hù)等級(jí)IP67，可選IP68。
  (9) Protection class IP67, optional IP68.

3.羅托克系列智能電動(dòng)執(zhí)行器
3. IQ series electric actuators

（IQ電動(dòng)執(zhí)行器）

IQ系列智能電動(dòng)執(zhí)行器與普通執(zhí)行器相比具有如下特點(diǎn)：
Compared with ordinary actuator, IQ series electric actuators possess the following features:
（1）便利的參數(shù)遙控設(shè)定功能。投入使用前，只要使用由廠家提供的設(shè)定工具，對(duì)準(zhǔn)執(zhí)行器就可進(jìn)行參數(shù)的遙控設(shè)定。不僅簡(jiǎn)化了設(shè)定工作程序，還提高了設(shè)備安全運(yùn)行性，特別是那些要求防爆的場(chǎng)所尤為重要。
  (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）豐富的在線顯示功能。采用液晶顯示技術(shù)，利用內(nèi)置式液晶顯示板，不僅可準(zhǔn)確顯示閥門開(kāi)、關(guān)狀態(tài)和正常閥門開(kāi)度等，且在參數(shù)設(shè)定或執(zhí)行器有故障時(shí)，也能顯示出重要信息。
  (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）*的自診斷及保護(hù)功能。它可在線診斷出伺服電機(jī)過(guò)載、過(guò)熱情況及電源的狀態(tài)等，還能自動(dòng)識(shí)別三相電源相位，緊急情況時(shí)，執(zhí)行器可保位或運(yùn)行到預(yù)先設(shè)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。采用了計(jì)算機(jī)技術(shù)，把*自動(dòng)跟隨控制技術(shù)設(shè)計(jì)為它的一項(xiàng)標(biāo)準(zhǔn)功能。執(zhí)行器響應(yīng)速度與實(shí)際要求偏差大小成比例，即所謂的“變速控制”，大大提高了執(zhí)行器響應(yīng)品質(zhì)。
(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）較強(qiáng)的現(xiàn)場(chǎng)適應(yīng)性。整機(jī)設(shè)計(jì)具有IP54級(jí)防護(hù)能力，且對(duì)執(zhí)行器內(nèi)部與外部信號(hào)接I=1也都采用光電隔離技術(shù)，提高了可靠性，特別是執(zhí)行器內(nèi)部控制卡件采用了防震固定法，所有接插件都帶有“反扣”以防松動(dòng)，積木式結(jié)構(gòu)使維修非常方便。
(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、智能電動(dòng)執(zhí)行器的發(fā)展趨勢(shì)
Ⅲ, the development trend of the smart electric actuator
綜上所述，智能電動(dòng)執(zhí)行器的發(fā)展趨勢(shì)可以歸納為：機(jī)電一體化結(jié)構(gòu)逐步取代組合式結(jié)構(gòu)，智能化控制技術(shù)逐步取代純電子控制技術(shù)，帶通信技術(shù)功能的逐步取代不帶通信技術(shù)的，數(shù)字控制方式逐步取代傳統(tǒng)的模擬控制方式，運(yùn)用紅外遙控的非接觸式調(diào)試技術(shù)逐步取代接觸式手動(dòng)調(diào)試技術(shù)，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.
當(dāng)智能電動(dòng)執(zhí)行器與現(xiàn)場(chǎng)總線連接時(shí)，智能執(zhí)行器就成了現(xiàn)場(chǎng)總線控制系統(tǒng)(F)中的一塊現(xiàn)場(chǎng)儀表，這時(shí)它不僅具有執(zhí)行器功能，還具有控制、運(yùn)算和通信等功能。由此可見(jiàn)，我國(guó)目前新一代符合現(xiàn)場(chǎng)總線的智能電動(dòng)執(zhí)行器產(chǎn)品，是執(zhí)行機(jī)構(gòu)今后發(fā)展的必然趨勢(shì)，它的成功研究與應(yīng)用給電動(dòng)執(zhí)行器的進(jìn)一步發(fā)展打下了良好的基礎(chǔ)，并將給智能電動(dòng)執(zhí)行器帶來(lái)廣闊的市場(chǎng)發(fā)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.