WO2002079650A2 - Elecronic motor torque control for positive displacement pumps - Google Patents
Elecronic motor torque control for positive displacement pumps Download PDFInfo
- Publication number
- WO2002079650A2 WO2002079650A2 PCT/US2002/009930 US0209930W WO02079650A2 WO 2002079650 A2 WO2002079650 A2 WO 2002079650A2 US 0209930 W US0209930 W US 0209930W WO 02079650 A2 WO02079650 A2 WO 02079650A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pump
- motor
- processor
- torque
- input shaft
- Prior art date
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B11/00—Equalisation of pulses, e.g. by use of air vessels; Counteracting cavitation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2201/00—Pump parameters
- F04B2201/12—Parameters of driving or driven means
- F04B2201/1202—Torque on the axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2201/00—Pump parameters
- F04B2201/12—Parameters of driving or driven means
- F04B2201/1208—Angular position of the shaft
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/02—Motor parameters of rotating electric motors
- F04B2203/0204—Frequency of the electric current
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/02—Motor parameters of rotating electric motors
- F04B2203/0207—Torque
Definitions
- This invention relates to a method of electronically attenuating a polar grid based on the torque profile of a positive displacement pump in order produce a constant pump - pressure regardless of pump , radial crankshaft/camshaft/ crankarm location and the velocity of the fluid being pumped.
- an electronic processor compares the shaft displacement angle of the pump input shaft to a reference polar grid of torque profile and varies the electrical power applied to the pump motor.
- the processor can also take into account the response time of the pump drive, the motor inductive reactance, system inertia, application characteristics of the pump, and regenerative energy during deceleration of the pump.
- a positive displacement pump is usually a variation of a reciprocating piston and a cylinder, of which the flow is controlled by some sort of valving. Reciprocal machinery, however can be less attractive in use than rotary machinery because the output of a reciprocal machine is cyclic, where the cylinder alternatively pumps or fills, therefore there are breaks in output. This disadvantage can be overcome to a certain extent by: using multiple cylinders; bypassing the pump output through flow accumulators, attenuators, dampers; or waste gating the excess pressure thereby removing the high pressure output of the flow.
- reciprocating pumps In addition to uneven pressure and flow output, reciprocating pumps have the disadvantage of uneven power input proportional to their output. This causes excessive wear and tear on the apparatus, and is inefficient because the pump drive must be sized for the high torque required when the position of the pump connecting rod is at an angular displacement versus crankarm dimension during the compression stroke that would result in the highest required input shaft torque.
- an eccentric transmission transmits a torque demand from a reciprocating pump, which varies with time, to the drive motor such that the torque demand on the drive motor is ' substantially constant.
- the result is the leveling of torque variation required to drive a positive displacement pump at the transmission input shaft with the effect of constant pump output pressure. This is accomplished by means of eccentric pitch circle socket sets with gear belts or eccentric pitch circle matched gear sets.
- U.S. Patent 4,971,522 uses a cyclic lead transducer input and tachometer signal input to a controller to signal varied cyclic motor input controls to provide the required motor torque output.
- a flywheel is coupled to the motor in order to maintain shaft velocity.
- the speed of the motor is widely varied and the torque is varied to a smaller extent.
- U.S. Patent 5,141,402 discloses an electrical current and frequency applied to the motor which are varied according to fluid pressure and flow signals from the pump.
- U.S. Patent 5,295,737 discloses a motor output which is varied by a current regulator according to a predetermined cyclic pressure output requirement. The motor speed is set to be proportional to the volume consumed and inversely proportional to the pressure.
- a method for obtaining a polar map for process control within the electronic drive of a targeted pump This polar map is calculated by a processor or externally calculated then input into a processor.
- the processor can compare the shaft displacement angle of the pump input shaft to the reference polar map.
- the processor can also take into account selected factors such as the response time of the pump drive, the motor inductive reactance, system inertia, application characteristics of the pump, and regenerative energy during deceleration of the pump. Using selected factors and the comparison results the processor then signals the motor controller to vary the amperage, voltage, and frequency applied to the motor in order to regulate the torque output of the pump motor. With an accurately regulated motor power output, the pump output pressure will remain constant regardless of pump crank arm location or the velocity of fluid flow.
- Figure 1 is a block diagram of the steps required for a method of electronic attenuation of torque profile and the resulting control of the pump.
- Figure 2 is a graph depicting input torque variations for a triplex pump based upon pump input shaft rotational degrees.
- Figure 3 is a graph depicting a percentile summation of input torque variation compared to angular displacement of input shaft of a triplex pump.
- Figure 4 is a table depicting variations of input torque above and below the mean for triplex pumps in relation to the linear distance between the plunger/piston pivot point and the throw pivot point multiplied by the throw radius.
- Figure 5 is a graph depicting a plotting of geometric distance variation points based upon the total torque variation for a triplex pump.
- Figure 6 is a polar map depicting the torque profile versus angular displacement of a pump input shaft.
- Figure 1 depict the development of a baseline polar guide of torque profile for the targeted pump.
- the output characteristic of volumetric displacement would directly relate to the input torque variations above 10 and below 12 the comparative mean 14.
- the processor identifies the output discharge characteristics such as the number of plungers, pistons in a piston pump, or vane/gear in a rotary pump.
- the processor also utilizes a comparative mean where, the comparative mean is representative of the basic torque requirement of the pump input shaft rated at a specific output pressure of the pump.
- a pulsation pattern 16 would be repeated at the same rate per revolution as the number of the pump' s volumetric displacement cavities.
- a triplex positive displacement pump would repeat a pulsation pattern 16 every 120 degree rotation of the pump input shaft.
- a pulsation pattern would be produced five times per revolution of the pump input shaft, repeating every 72 degrees if the output pressure is to remain constant and for a rotary vane pump with nine vanes selected; the pulsation pattern would repeat every 40 degree rotation of the pump input shaft if the output pressure is to remain constant.
- the torque profile versus displacement angle of the targeted pumping system is the summation of the torque requirement for each volumetric displacement component, depicting a percentage above mean 18 and the percentage below mean 20.
- the magnitude of input torque variation to power pumps is determined by the processor, where the magnitude of torque variation is the number of volumetric displacement cavities activated in one revolution and the relationship "Q" .
- Figure 4 in table form depicts the percentile variations of input torque above and below the mean for triplex pumps with various "Q" .
- Figure 5 graphically depicts the total torque variation to show a torque profile for a triplex pump (three volumetric displacements per revolution) with a "Q" at 4:1 with variations shown above and below the mean.
- the mean is representative of the basic rms (root mean squared) torque requirement of the pump input shaft rated at a specific output pressure of the pump versus the angular displacement angle of the pump crank shaft.
- the relationship of "Q" and the effect it has on torque variation would also apply to rotary pumps.
- a plotted geometric distance variation using tl-tl5 as plotting points is then imposed on the torque profile.
- a pump polar map is determined based on the torque profile and the input shaft angular displacement of the pump.
- the center 34 of the polar map is to represent zero torque.
- the incremental lines 36 depicted orbitally are the angular displacement of the targeted pump's input shaft.
- the plotted pump torque variation curve 38 that occurs above and below the mean 40 is to be considered a geometric percentage of the summation of the torque requirement of each of the volumetric displacement components of the targeted pump.
- each point plotted on the polar map's center from the base diameter's center is to be located at the geometric distance variation (over or under) of the base radii percentile established from torque versus the pump input shaft displacement angle (tl thru tl5) .
- the geometric distance variations are the plotting points determined in Figure 5.
- the torque versus angular displacement profile of the pump system selected is to become the reference polar guide for the comparitor algorithm in the processor in Block 5 of Figure 1.
- the reference polar guide determined by the processor in Blocks 1-5 can also be determined externally from the processor and then input into the processor.
- Blocks 6-10 of Figure 1 are the operating steps from electronic attenuation of torque profile to providing constant output pressure at the pump wherein Block 6 indicates a transmission of angular displacement of the input shaft of a pump in operation.
- a pulse transmitter mounted on the input shaft relays to a counter, which is part of the processor, the angular position of the pump drive.
- an electronic processor gathers this output shaft orientation feedback information, and processes the angular displacement data.
- the processor then attenuates from the peak requirement of the pump, the output torque of the drive compared to the predetermined reference polar map of Block 5. A corresponding torque command value is then selected.
- Block 9 of Figure 1 based upon the inputs of Blocks 7 and 8, the processor of the electronic drive signals the motor controller to apply the correct amperage, voltage, and frequency to the motor which then provides the correct torque according to the angular displacement of the pump input shaft .
- Block 11 of Figure 1 depicts the use of this method in future systems where information gathered from pump operation by this method can be used to design more responsive components such as transmissions and electronic drives . More responsive components would decrease the time increments between Blocks 6-10. As response times are decreased, torque output produced for indicated angular displacements will increase in efficiency. Thus, the aforementioned objects and advantages are most effectively attained. Although preferred embodiments of the present invention have been disclosed and described in detail herein, it should be understood that this invention is in no sense limited thereby and its scope is to be determined by that of the appended claims.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002578032A JP2004522900A (en) | 2001-03-29 | 2002-03-29 | Electronic pole damping of torque profiles in positive displacement pump systems. |
AU2002252555A AU2002252555A1 (en) | 2001-03-29 | 2002-03-29 | Elecronic motor torque control for positive displacement pumps |
CA002441361A CA2441361A1 (en) | 2001-03-29 | 2002-03-29 | Elecronic motor torque control for positive displacement pumps |
MXPA03008749A MXPA03008749A (en) | 2001-03-29 | 2002-03-29 | Electronic polar attenuation of torque profile for positive displacement pumping systems. |
EP02721633A EP1373732A2 (en) | 2001-03-29 | 2002-03-29 | Electronic motor torque control for positive displacement pumps |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/821,603 US6494685B2 (en) | 2001-03-29 | 2001-03-29 | Pump and motor assembly with constant pressure output |
US09/821,603 | 2001-03-29 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2002079650A2 true WO2002079650A2 (en) | 2002-10-10 |
WO2002079650A3 WO2002079650A3 (en) | 2003-02-27 |
Family
ID=25233806
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2002/009930 WO2002079650A2 (en) | 2001-03-29 | 2002-03-29 | Elecronic motor torque control for positive displacement pumps |
Country Status (7)
Country | Link |
---|---|
US (1) | US6494685B2 (en) |
EP (1) | EP1373732A2 (en) |
JP (1) | JP2004522900A (en) |
AU (1) | AU2002252555A1 (en) |
CA (1) | CA2441361A1 (en) |
MX (1) | MXPA03008749A (en) |
WO (1) | WO2002079650A2 (en) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8303260B2 (en) * | 2006-03-08 | 2012-11-06 | Itt Manufacturing Enterprises, Inc. | Method and apparatus for pump protection without the use of traditional sensors |
CN101033744B (en) * | 2006-03-08 | 2013-07-24 | Itt制造企业公司 | Method and apparatus for pump protection without the use of traditional sensors |
BRPI0717330A2 (en) * | 2006-09-26 | 2013-10-29 | Graco Minnesota Inc | ELECTRONIC PUMP SHAFT MOTOR CONTROL FOR PUMP PUMP |
US20080240932A1 (en) * | 2007-03-26 | 2008-10-02 | Kadant Inc. | Pump, real-time, general and incremental condition diagnosis |
US8801393B2 (en) * | 2007-10-12 | 2014-08-12 | Pierce Manufacturing Inc. | Pressure control system and method |
US20090220352A1 (en) * | 2008-02-29 | 2009-09-03 | Carstensen Peter T | Method and Device for Monitoring and Controlling a Hydraulic Actuated Process |
US20130039778A1 (en) * | 2009-12-08 | 2013-02-14 | Graco Minnesota Inc. | System and method for controlling linear pump system |
US8801407B2 (en) * | 2010-02-24 | 2014-08-12 | Harris Waste Management Group, Inc. | Hybrid electro-hydraulic power device |
CN103153839B (en) | 2010-08-20 | 2014-08-13 | 格瑞克明尼苏达有限公司 | Method for synchronizing linear pump system |
AU2013204013B2 (en) | 2013-03-15 | 2015-09-10 | Franklin Electric Company, Inc. | System and method for operating a pump |
WO2017184651A1 (en) | 2016-04-19 | 2017-10-26 | ClearMotion, Inc. | Active hydraulec ripple cancellation methods and systems |
US10907631B2 (en) * | 2018-08-01 | 2021-02-02 | Rolls-Royce Corporation | Pump ripple pressure monitoring for incompressible fluid systems |
US20220090594A1 (en) * | 2020-09-18 | 2022-03-24 | Caterpillar Inc. | Hydraulic fracturing pump control system |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4726738A (en) | 1985-01-16 | 1988-02-23 | Hitachi, Ltd. | Motor-driven compressor provided with torque control device |
US4971522A (en) | 1989-05-11 | 1990-11-20 | Butlin Duncan M | Control system and method for AC motor driven cyclic load |
US5295737A (en) | 1990-11-22 | 1994-03-22 | Robert Bosch Gmbh | Electric motor-driven hydraulic pump |
US5947693A (en) | 1996-05-08 | 1999-09-07 | Lg Electronics, Inc. | Linear compressor control circuit to control frequency based on the piston position of the linear compressor |
US5971721A (en) | 1998-03-27 | 1999-10-26 | Thermo Fibertek Inc. | High pressure pump having an eccentric transmission |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4912401A (en) * | 1972-05-17 | 1974-02-02 | ||
US4449079A (en) * | 1980-04-17 | 1984-05-15 | General Electric Company | Control system for an electronically commutated motor |
US3985467A (en) * | 1975-05-27 | 1976-10-12 | Milton Roy Company | Constant pressure pump |
JPH0758069B2 (en) * | 1983-09-09 | 1995-06-21 | 株式会社日立製作所 | Compressor motor controller |
US4868477A (en) * | 1987-06-23 | 1989-09-19 | The Superior Electric Company | Method and apparatus for controlling torque and torque ripple in a variable reluctance motor |
KR910009242B1 (en) * | 1987-08-04 | 1991-11-07 | 가부시기가이샤 히다찌세이사꾸쇼 | Torque control apparatus for rotating motor machine |
JP2824575B2 (en) * | 1987-08-11 | 1998-11-11 | 株式会社日立製作所 | Low pulsating flow pump |
KR920008189B1 (en) * | 1987-12-18 | 1992-09-25 | 가부시기가이샤 히다찌세이사꾸쇼 | Variable speed pumping-up system |
US5141402A (en) | 1991-01-29 | 1992-08-25 | Vickers, Incorporated | Power transmission |
JP2741159B2 (en) | 1993-09-27 | 1998-04-15 | 株式会社丸山製作所 | Intermittent discharge method and reciprocating pump |
US5716194A (en) * | 1994-09-12 | 1998-02-10 | Ivac Medical Systems, Inc. | System for increasing flow uniformity |
JP3399156B2 (en) * | 1995-05-29 | 2003-04-21 | 株式会社デンソー | Control device for brushless DC motor |
US5980211A (en) * | 1996-04-22 | 1999-11-09 | Sanyo Electric Co., Ltd. | Circuit arrangement for driving a reciprocating piston in a cylinder of a linear compressor for generating compressed gas with a linear motor |
-
2001
- 2001-03-29 US US09/821,603 patent/US6494685B2/en not_active Expired - Fee Related
-
2002
- 2002-03-29 MX MXPA03008749A patent/MXPA03008749A/en active IP Right Grant
- 2002-03-29 JP JP2002578032A patent/JP2004522900A/en active Pending
- 2002-03-29 EP EP02721633A patent/EP1373732A2/en not_active Withdrawn
- 2002-03-29 WO PCT/US2002/009930 patent/WO2002079650A2/en active Application Filing
- 2002-03-29 AU AU2002252555A patent/AU2002252555A1/en not_active Abandoned
- 2002-03-29 CA CA002441361A patent/CA2441361A1/en not_active Abandoned
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4726738A (en) | 1985-01-16 | 1988-02-23 | Hitachi, Ltd. | Motor-driven compressor provided with torque control device |
US4971522A (en) | 1989-05-11 | 1990-11-20 | Butlin Duncan M | Control system and method for AC motor driven cyclic load |
US5295737A (en) | 1990-11-22 | 1994-03-22 | Robert Bosch Gmbh | Electric motor-driven hydraulic pump |
US5947693A (en) | 1996-05-08 | 1999-09-07 | Lg Electronics, Inc. | Linear compressor control circuit to control frequency based on the piston position of the linear compressor |
US5971721A (en) | 1998-03-27 | 1999-10-26 | Thermo Fibertek Inc. | High pressure pump having an eccentric transmission |
Also Published As
Publication number | Publication date |
---|---|
CA2441361A1 (en) | 2002-10-10 |
WO2002079650A3 (en) | 2003-02-27 |
EP1373732A2 (en) | 2004-01-02 |
AU2002252555A1 (en) | 2002-10-15 |
US6494685B2 (en) | 2002-12-17 |
MXPA03008749A (en) | 2004-10-15 |
US20020141875A1 (en) | 2002-10-03 |
JP2004522900A (en) | 2004-07-29 |
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