阅读说明：本技术 一种电动执行器齿轮磨损控制方法、装置以及电动执行器 (Electric actuator gear wear control method and device and electric actuator ) 是由 吴冰 何洲统 张贤权 周开封 王伟 于 2021-09-02 设计创作，主要内容包括：本发明提供了一种电动执行器齿轮磨损控制方法,包括：一种电动执行器齿轮磨损控制方法,其特征在于,包括：控制阀门运行至第一机械止动位置；电机转动圈数阈值控制所述阀门运行,所述阀门停止位置即为检测位置；判断所述检测位置和标准位置是否相同；其中,当所述检测位置和标准位置不同时,判断电动执行器为第一齿轮磨损状态；当所述检测位置和标准位置相同时,判断所述电动执行器为正常。本发明实施例用于检测电动执行器内部齿轮的磨损情况。(The invention provides a method for controlling the abrasion of a gear of an electric actuator, which comprises the following steps: a method of controlling wear of a gear of an electric actuator, comprising: controlling the valve to operate to a first mechanical stop position; the valve is controlled to operate by the threshold value of the number of turns of the motor, and the stop position of the valve is the detection position; judging whether the detection position is the same as the standard position; when the detection position is different from the standard position, judging that the electric actuator is in a first gear wear state; and when the detection position is the same as the standard position, judging that the electric actuator is normal. The embodiment of the invention is used for detecting the abrasion condition of the internal gear of the electric actuator.)

1. A method of controlling wear of a gear of an electric actuator, comprising:

controlling the valve to operate to a first mechanical stop position;

the valve is controlled to operate by the threshold value of the number of turns of the motor, and the stop position of the valve is the detection position;

judging whether the detection position is the same as the standard position;

when the detection position is different from the standard position, judging that the electric actuator is in a first gear wear state; and when the detection position is the same as the standard position, judging that the electric actuator is normal.

2. The electric actuator gear wear control method of claim 1, further comprising:

judging whether the angle between the detection position and the standard position is larger than a first preset angle difference value alpha or not;

and when the angle between the detection position and the standard position is larger than a preset difference angle alpha, judging that the electric actuator is in a second gear abrasion state.

3. The electric actuator gear wear control method of claim 2, further comprising:

acquiring the running time of the electric actuator;

and when the running time of the electric actuator is greater than a first preset time t, and the electric actuator is in a second gear abrasion state, the electric actuator enters a third gear abrasion state.

4. The method of claim 3, wherein the electric actuator issues a service signal when the electric actuator enters a third gear wear state.

5. The electric actuator gear wear control method of claim 3, further comprising:

judging whether an included angle between the detection position and the standard position is larger than a second preset angle difference value beta or not;

and when the included angle between the detection position and the standard position is larger than a second preset angle difference value beta, the electric actuator is forcibly stopped.

6. The method of claim 1, wherein when the electric actuator is in a first gear wear state, the electric actuator enters a self-calibration mode comprising:

controlling the valve to operate to the first mechanical stop position;

the motor controls the valve to operate to a standard position;

acquiring a first number of turns of the motor running at the moment;

and performing recalibration by comparing the first turn number with the turn number threshold value.

7. The method of any of claims 1-6, wherein the reference position is a position at which the threshold number of rotational mounting cycles of the motor controls the valve to stop operating from the first mechanical stop position when the electric actuator is first used.

8. An electric actuator gear wear control device, comprising:

the judging module is used for judging the relation between the detection position and the standard position;

the angle monitoring module is used for detecting the rotation angle of the valve;

and the control module is used for controlling the rotation of the valve and the motor.

9. An electric actuator, characterized by a packaged IC and a memory electrically connected to the packaged IC, the memory storing a computer program, the computer program being read and executed by the packaged IC, the electric actuator implementing the electric actuator gear wear control method according to any one of claims 1 to 7.

10. A commercial vehicle, characterized in that it has an electric actuator according to claim 9.

Technical Field

The invention relates to the field of exhaust gas circulation systems of commercial vehicles, in particular to an electric actuator gear wear control method, an electric actuator gear wear control device and an electric actuator.

Background

Under the prospect that environmental protection and energy-conservation were paid attention to increasingly, commercial car can install exhaust gas circulation system in engine department, when suddenly violently refueling, fuel in the engine can incomplete combustion to can be mingled with certain combustible substance in the waste gas, the valve through electric actuator control exhaust gas circulation system department is opened this moment, makes partial waste gas get into the engine and burns again, has reduced carminative pollution promptly, makes exhaust gas cyclic utilization again, has played energy-conserving effect.

Because the electric actuator can lead to its inside gear to take place wearing and tearing when carrying out the work for a long time, can lead to the control accuracy to the valve to descend, and use the electric actuator who wears out for a long time, can lead to the valve uncontrollable, have the potential safety hazard.

Disclosure of Invention

Therefore, the embodiment of the invention provides a method for controlling the wear of a gear of an electric actuator, which is used for detecting the wear condition of an internal gear of the electric actuator.

In order to solve the above problems, the present invention provides a method for controlling wear of a gear of an electric actuator, comprising: controlling the valve to operate to a first mechanical stop position; the valve is controlled to operate by the threshold value of the number of turns of the motor, and the stop position of the valve is the detection position; judging whether the detection position is the same as the standard position; when the detection position is different from the standard position, judging that the electric actuator is in a first gear wear state; and when the detection position is the same as the standard position, judging that the electric actuator is normal.

Compared with the prior art, the technical scheme has the following technical effects: firstly, controlling the valve to operate to a specified position, then controlling the valve to rotate by a threshold value of the number of rotating turns of the motor, wherein the stop position of the valve is a detection position, then comparing the detection position with a standard position, and judging that the electric actuator is in a first gear abrasion state when the detection position is different from the standard position; when the detection position is the same as the standard position, the electric actuator is judged to be normal, so that whether the electric actuator is in a gear wear state or not is known, and the wear state of the gear of the electric actuator can be predicted in advance.

In one example of the present invention, the method further comprises: judging whether an included angle between the detection position and the standard position is larger than a first preset angle difference value alpha or not; and when the included angle between the detection position and the standard position is larger than a preset difference angle alpha, judging that the electric actuator is in a second gear abrasion state.

Compared with the prior art, the technical scheme has the following technical effects: because the wearing and tearing of output shaft or position detector's error can also lead to there being the difference between the detection position of valve block and the standard position, consequently for the wearing and tearing condition of further learning the gear, consequently through judging contained angle and the first preset angle difference alpha between detection position and the standard position and comparing, when the contained angle between detection position and the standard position is greater than preset difference angle alpha, judge that electric actuator is the second gear wearing and tearing state.

In one example of the present invention, the method further comprises: acquiring the running time of the electric actuator; and when the running time of the electric actuator is greater than a first preset time t, and the electric actuator is in a second gear abrasion state, the electric actuator enters a third gear abrasion state.

Compared with the prior art, the technical scheme has the following technical effects: the electric actuator enters a second gear abrasion state during detection due to possible assembly errors or loose fit and other phenomena in the gear installation process, but the electric actuator is still in a standard range of use and the gear is still in a healthier state; however, in this state, the electric actuator is used for a long time, and the loss of the gear of the electric actuator is large, so that when the operation time of the electric actuator is greater than the first preset time t and the electric actuator is in the second gear wear state, it is determined that the electric actuator enters the third gear wear state.

In one example of the present invention, the electric actuator sends a service signal when the electric actuator enters the third gear wear state.

Compared with the prior art, the technical scheme has the following technical effects: when the electric actuator enters the third gear wear state, the gear wear state of the electric actuator is already in a more serious state, so that a maintenance signal is directly sent out to inform a user of maintaining and replacing the electric actuator in order to prevent accidents.

In one example of the present invention, the method further comprises: judging whether an included angle between the detection position and the standard position is larger than a second preset angle difference value beta or not; and when the included angle between the detection position and the standard position is larger than a second preset angle difference value beta, the electric actuator is forcibly stopped.

Compared with the prior art, the technical scheme has the following technical effects: because the control to the valve can lead to out of control when the condition of electric actuator gear wearing and tearing and serious, have great potential safety hazard, consequently in order to prevent the emergence of accident, through judging whether the contained angle between detection position and the standard position is greater than the second and predetermines angle difference beta, when the contained angle between detection position and the standard position is greater than the second and predetermines angle difference beta, electric actuator directly forces the shut down.

In one example of the present invention, when the electric actuator is in a first gear wear state, the electric actuator enters a self-calibration mode, the self-calibration mode comprising: controlling the valve to operate to the first mechanical stop position; the motor controls the valve to operate to a standard position; acquiring a first number of turns of the motor running at the moment; and performing recalibration by comparing the first turn number with the turn number threshold value.

Compared with the prior art, the technical scheme has the following technical effects: when the electric actuator is in the first gear abrasion state, the gear abrasion of the electric actuator is less, and the control precision of the valve is only reduced, so that the electric actuator is subjected to a self-calibration mode, and other rotation parameters of the electric actuator are recalibrated by comparing the first number of turns with the threshold value of the number of turns through the ratio between the first number of turns and the threshold value of the number of turns, so that the control precision of the valve is improved.

In an example of the present invention, the standard position is a position where the valve stops from the first mechanical stop position when the electric actuator is used for the first time and the motor is rotated for a threshold number of installation turns.

Compared with the prior art, the technical scheme has the following technical effects: because each electric actuator has difference between installation parts, the standard position is not set as a fixed value, and the valve is controlled to be determined from the position where the operation of the first mechanical stop position is stopped according to the threshold value of the number of installation turns of each electric actuator according to the rotation of the motor, so that the accuracy of the subsequent judgment is improved.

On the other hand, the embodiment of the present invention provides a gear wear control device for an electric actuator, including: the judging module is used for judging the relation between the detection position and the standard position; the angle monitoring module is used for detecting the rotation angle of the valve; and the control module is used for controlling the rotation of the valve and the motor.

In still another aspect, an embodiment of the present invention provides an electric actuator, a packaged IC, and a memory electrically connected to the packaged IC, where the memory stores a computer program, and when the computer program is read and executed by the packaged IC, the electric actuator implements the electric actuator gear wear control method according to any one of claims 1 to 8.

In another aspect, an embodiment of the present invention provides a commercial vehicle, which includes the electric actuator according to any one of the above embodiments.

After the technical scheme of the invention is adopted, the following technical effects can be achieved:

(1) the valve is controlled to rotate through the threshold value of the number of rotating turns of the motor, the stop position of the valve is a detection position, and the detection position is compared with a standard position, so that the abrasion condition of an inner gear of the electric actuator is known;

(2) when the electric actuator is in the first gear abrasion state, the gear abrasion of the electric actuator is less, and only the control precision of the valve is reduced, so that the electric actuator is subjected to a self-calibration mode, other rotation parameters of the electric actuator are recalibrated, and the control precision of the valve is improved;

(3) and controlling the valve to determine a standard position from the position where the operation of the first mechanical stop position stops according to the threshold of the number of the rotating installation turns of each electric actuator according to the motor, so that the accuracy of the subsequent judgment is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a flowchart of a method for controlling wear of a gear of an electric actuator according to an embodiment of the present invention.

Fig. 2 is a detailed flowchart of a method of controlling gear wear of the electric actuator shown in fig. 1.

FIG. 3 is a block diagram schematically illustrating the structure of a gear wear control device of an electric actuator according to a second embodiment of the present invention;

fig. 4 is a block diagram showing the components of an electric actuator according to a third embodiment of the present invention;

fig. 5 is a schematic structural diagram of a readable storage medium according to a fourth embodiment of the present invention.

Description of reference numerals:

100 is an electric actuator gear-blocking wear control device; 110 is an acquisition module; 120 is an angle monitoring module; 130 is a control module; 140 is a display module; 150 is an alarm module; 200 is an electric actuator; 210 is a memory; 211 is a computer program; 230 is a processor; 300 is a readable storage medium; 310 are computer-executable instructions.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

[ first embodiment ] A method for manufacturing a semiconductor device

Referring to fig. 1, a flowchart of a method for controlling wear of a gear of an electric actuator according to an embodiment of the present invention is provided. The electric actuator gear wear control method specifically comprises the following steps:

step S10, controlling the valve to move to a first mechanical stop position;

it should be noted that, here, the operation of the control valve to the first mechanical stop position needs to be performed on the premise that the electric actuator stops operating, otherwise, the electric actuator is affected.

Step S20, controlling the valve to operate by the threshold value of the number of turns of the motor, wherein the stop position of the valve is the detection position;

step S30, it is determined whether the detected position and the standard position are the same.

When the detection position is different from the standard position, judging that the electric actuator is in a first gear wear state; and when the detection position is the same as the standard position, judging that the electric actuator is normal.

For example, in a state that the existing electric actuator works and is used for a long time, gears in the electric actuator are abraded, so that the control precision of a valve is reduced, even the valve cannot be controlled, and potential safety hazards exist; when the detection position is the same as the standard position, the electric actuator is judged to be normal, so that whether the electric actuator is in a gear wear state or not is known, and the wear state of the gear of the electric actuator can be predicted in advance.

Preferably, the standard position is a position where the valve is controlled to stop running from the first mechanical stop position by the threshold of the number of rotation installation turns of the motor when the electric actuator is used for the first time. For example, because each electric actuator has difference between installation parts, the standard position is not set as a fixed value, and the valve is controlled to be determined from the position where the operation of the first mechanical stop position is stopped according to the threshold value of the number of installation turns of the motor of each electric actuator, so that the accuracy of the later judgment is improved.

Specifically, referring to fig. 2, the method for controlling the gear wear of the electric actuator further includes: judging whether an included angle between the detection position and the standard position is larger than a first preset angle difference value alpha or not; and when the included angle between the detection position and the standard position is larger than a preset difference angle alpha, judging that the electric actuator is in a second gear abrasion state.

For example, because the wear of the output shaft or the error of the position detector may also cause the difference between the detection position of the valve plate and the standard position, in order to further know the wear condition of the gear, the included angle between the detection position and the standard position is judged to be compared with the first preset angle difference α, and when the included angle between the detection position and the standard position is greater than the preset difference angle α, the electric actuator is judged to be in the second gear wear state.

Preferably, when the electric actuator is in the first gear wear state, the electric actuator enters a self-calibration mode, which includes: controlling the valve to operate to the first mechanical stop position; the motor controls the valve to operate to a standard position; acquiring a first number of turns of the motor running at the moment; and performing recalibration by comparing the first turn number with the turn number threshold value.

For example, when the electric actuator is in the first gear wear state, the gear of the electric actuator is less worn, and the control precision of the valve is reduced, so that the electric actuator is subjected to a self-calibration mode, and other rotation parameters of the electric actuator are recalibrated by comparing the first number of turns with the threshold number of turns through the ratio between the first number of turns and the threshold number of turns, so that the control precision of the valve is improved.

Specifically, the electric actuator gear wear control method further includes, for example: judging whether an included angle between the detection position and the standard position is larger than a first preset angle difference value alpha or not; and when the included angle between the detection position and the standard position is larger than a preset difference angle alpha, judging that the electric actuator is in a second gear abrasion state.

For example, because the wear of the output shaft or the error of the position detector may also cause the difference between the detection position of the valve plate and the standard position, in order to further know the wear condition of the gear, the included angle between the detection position and the standard position is judged to be compared with the first preset angle difference α, and when the included angle between the detection position and the standard position is greater than the preset difference angle α, the electric actuator is judged to be in the second gear wear state.

Preferably, the electric actuator gear wear control method further includes, for example: acquiring the running time of the electric actuator; and when the running time of the electric actuator is greater than a first preset time t, and the electric actuator is in a second gear abrasion state, the electric actuator enters a third gear abrasion state.

For example, the electric actuator enters a second gear wear state during detection due to possible assembly errors or loose fit and the like in the process of mounting the gear, but the electric actuator is still in a standard range of use and the gear is still in a healthier state; however, in this state, the electric actuator is used for a long time, and the loss of the gear of the electric actuator is large, so that when the operation time of the electric actuator is greater than the first preset time t and the electric actuator is in the second gear wear state, it is determined that the electric actuator enters the third gear wear state.

Preferably, the obtaining of the electric actuator running time may be performed by periodically performing gear wear detection on the electric actuator, and when the number of times of the gear wear detection on the electric actuator exceeds a number threshold and the electric actuator is in the second gear wear state, the electric actuator enters the third gear wear state.

Preferably, when the electric actuator enters the third gear wear state, the electric actuator sends a maintenance signal. For example, when the electric actuator enters the third gear wear state, the gear wear state of the electric actuator is already in a relatively serious state, and therefore, in order to prevent an accident, a maintenance signal is directly sent out, and a user can be notified to maintain and replace the electric actuator.

Specifically, the electric actuator gear wear control method further includes, for example: judging whether an included angle between the detection position and the standard position is larger than a second preset angle difference value beta or not; and when the included angle between the detection position and the standard position is larger than a second preset angle difference value beta, the electric actuator is forcibly stopped.

For example, because the control of the valve is out of control when the gear of the electric actuator is worn and serious, and there is a great potential safety hazard, in order to prevent an accident, by judging whether the included angle between the detection position and the standard position is greater than the second preset angle difference β, when the included angle between the detection position and the standard position is greater than the second preset angle difference β, the electric actuator is directly forced to stop.

[ second embodiment ]

Referring to fig. 3, an embodiment of the present invention further provides an electric actuator gear wear control device 100. The electric actuator gear wear control device 100 includes, for example: a judging module 110, configured to judge a relationship between the detection position and the standard position; an angle monitoring module 120 for detecting the rotation angle of the valve; and a control module 130 for controlling rotation of the valve and the motor.

Preferably, the electric actuator gear wear control device 100 further includes, for example: the display module 140 is used for displaying that the electric actuator 200 is in a normal state, a first gear wear state, a second gear wear state, a third gear wear state or a shutdown state; and the alarm module 150 is used for prompting the user that the electric actuator 200 is located in the third gear wear state.

In a specific embodiment, the judging module 110, the angle monitoring module 120, the control module 130, the display module 140 and the alarm module 150 of the electric actuator gear wear control device 100 cooperate to implement the electric actuator gear wear control method described in the first embodiment, and details are not repeated herein.

[ third embodiment ]

The embodiment of the present invention further provides an electric actuator 200, which includes a readable storage medium storing a computer program and a package IC electrically connected to the readable storage medium, where when the computer program is read by the package IC and executed, the electric actuator implements the method for controlling the wear of the gear of the electric actuator according to any of the embodiments.

The packaged IC in this embodiment may be, for example: a processor chip electrically connected to the computer readable storage medium to read and execute the computer program. The packaged IC may also be a packaged circuit board, which is packaged with a processor chip that can read and execute the computer program; of course, the circuit board may also encapsulate a computer-readable storage medium.

The processor chip may further be provided with the electric actuator gear wear control device 100 according to the second embodiment, and the processor chip may implement the electric actuator gear wear control method according to the first embodiment through the electric actuator gear wear control device 100, which is not described herein again.

[ fourth example ] A

Referring to fig. 4, which is a schematic structural diagram of an electric actuator 200 according to a fourth embodiment of the present invention, the electric actuator 200 includes, for example, a processor 230 and a memory 210 electrically connected to the processor 230, the memory 210 stores a computer program 211, and the processor 230 loads the computer program 211 to implement the method for controlling gear wear of the electric actuator according to the first embodiment.

[ fifth embodiment ]

Referring to fig. 5, the present embodiment further provides a readable storage medium 300, where the readable storage medium 300 stores computer-executable instructions 310, and when the computer-executable instructions 310 are read and executed by a processor, the readable storage medium 300 controls an electric actuator to implement the electric actuator gear wear control method as described in the first embodiment.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

[ sixth embodiment ]

The embodiment of the invention also provides a commercial vehicle, which comprises the electric actuator 200 in the third embodiment and/or the electric actuator 200 in the fourth embodiment. The commercial vehicle, such as a bus or truck, is more efficient in the treatment of exhaust gases.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.