WO2025123296A1 - Function configuration method and device for actuator - Google Patents
Function configuration method and device for actuator Download PDFInfo
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- WO2025123296A1 WO2025123296A1 PCT/CN2023/138870 CN2023138870W WO2025123296A1 WO 2025123296 A1 WO2025123296 A1 WO 2025123296A1 CN 2023138870 W CN2023138870 W CN 2023138870W WO 2025123296 A1 WO2025123296 A1 WO 2025123296A1
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- the present disclosure mainly relates to the field of industrial digitalization, and in particular to a method and device for configuring the functions of an actuator.
- the present disclosure provides a method and device for configuring the functions of an actuator, which can expand the functions of the actuator to meet the needs of different application scenarios.
- the present disclosure proposes a function configuration method of an actuator, wherein the actuator is connected to an end mechanism and is used to drive the end mechanism to move, and the function configuration method comprises:
- the extended function package including a physical model of the terminal mechanism, user configuration parameters and an extended function algorithm
- the extended function algorithm can be executed to realize the extended function of the actuator
- the executor receives the extended function package, and the runtime environment in the executor parses the physical model, user configuration parameters and extended function algorithm in the extended function package;
- an embodiment of the present disclosure provides a method for configuring the functions of an executor, in which a runtime environment is configured in the executor, and the runtime environment can directly parse and execute an extended function package sent to the executor to implement the extended functions in the extended function package, thereby achieving the extensibility and customization of the executor functions and expanding the application scenarios of the executor.
- the extended function is a flow control function
- the runtime environment calls the interface information of the actuator according to the physical model and the user configuration parameters, and executes the logic of the extended function algorithm to implement the extended function.
- the functional algorithm corresponds to the extended functions of the actuator, including: establishing a data model of the mapping relationship between flow velocity and flow rate, obtaining the flow velocity value detected by the flow velocity sensor, calculating the flow rate value according to the flow velocity value and the data model, and realizing the flow control function of the actuator according to the flow rate value and the extended functional algorithm. Therefore, through the flow control based on the data model, there is no need to install a flow sensor, which reduces the system cost.
- the method includes: constructing an extended function package through a mobile device, and receiving the extended function package sent by the mobile device at the executor. Therefore, the flexibility and convenience of constructing the extended function package can be improved, thereby improving the flexibility and convenience of functional configuration of the executor.
- the present disclosure also proposes a function configuration device for an actuator, the function configuration device comprising:
- a construction module is used to construct an extended function package, wherein the extended function package includes a physical model of the terminal mechanism, user configuration parameters and an extended function algorithm, and the extended function algorithm can be executed to realize the extended function of the actuator;
- An execution module wherein the runtime environment calls the interface information of the actuator according to the physical model and the user configuration parameters, and executes the logic of the extended function algorithm to implement the extended function of the actuator corresponding to the extended function algorithm.
- the present disclosure also proposes an electronic device, comprising a processor, a memory, and instructions stored in the memory, wherein the instructions implement the method as described above when executed by the processor.
- FIG3 is a schematic diagram of a function configuration device of an actuator according to an embodiment of the present disclosure.
- FIG. 4 is a schematic diagram of an electronic device according to an embodiment of the present disclosure.
- FIG1 is a flow chart of a function configuration method 100 of an actuator according to an embodiment of the present disclosure. As shown in FIG1 , the function configuration method 100 includes:
- the actuator is connected to the terminal mechanism and is used to drive the movement of the terminal mechanism.
- the actuator can be an industrial actuator or an HVAC actuator.
- the valve actuator is connected to the valve to drive the movement of the valve, that is, the degree of opening and closing of the valve.
- the extended function is relative to the basic function, and the basic function is factory-set, such as the speed control function and position control function of the valve actuator.
- the extended function is not factory-set and can be implemented in a user-defined software manner.
- an extended function package can be constructed in a mobile device (such as a mobile phone).
- the mobile device has good mobility and is easy for users to operate. It can improve the flexibility and convenience of constructing an extended function package, thereby improving the flexibility and convenience of the functional configuration of the actuator.
- Users can develop extended function packages directly in the development environment of the mobile device, or download extended function packages developed by other users through the application store or cloud service.
- the extended function package includes the physical model of the terminal mechanism, user configuration parameters and extended function algorithms.
- the physical model of the terminal mechanism may include the characteristic parameters of the terminal mechanism.
- the physical model of the valve may include valve characteristic parameters such as valve stroke length, dead zone length, flow characteristic curve parameters, minimum closing force or closing torque, etc.
- the user configuration parameters may be the target configuration parameters input by the user, such as the target operating speed of the fluid in the valve, the target maximum output force or torque, the effective action range of the actuator, the pressure difference of the fluid in the valve, etc.
- the extended function algorithm is a parameter that can be executed by the actuator. The extended function algorithm can be used to implement the extended function of the actuator.
- the extended function algorithm can be a flow control PID algorithm.
- the extended function algorithm can also be an advanced function algorithm.
- the actuator comes with some basic temperature control algorithms, and the extended function algorithm can provide some advanced temperature control algorithms to adapt to different temperature control scenarios and improve the flexibility of temperature control.
- Step 120 receiving the extended function package at the executor, and parsing the physical model, user configuration parameters and extended function algorithm in the extended function package by the runtime environment in the executor;
- Step 130 the runtime environment calls the interface information of the executor according to the physical model and the user configuration parameters, and executes the logic of the extended function algorithm to realize the extended function of the executor corresponding to the extended function algorithm.
- the extended function is a flow control function.
- the runtime environment calls the interface information of the actuator according to the physical model and user configuration parameters, and executes the logic of the extended function algorithm to implement the extended function of the actuator corresponding to the extended function algorithm, including: establishing a data model of the mapping relationship between flow rate and flow rate, obtaining the flow rate value detected by the flow rate sensor, calculating the flow rate value according to the flow rate value and the data model, and implementing the flow control function of the actuator according to the flow rate value and the extended function algorithm.
- FIG2 is a schematic diagram of a method for functional configuration of a valve actuator according to an embodiment of the present disclosure.
- An embodiment of the present disclosure provides a method for configuring the functions of an executor, wherein a runtime environment is configured in the executor, and the runtime environment can directly parse and execute an extended function package sent to the executor to implement the extended functions in the extended function package, thereby achieving the extensibility and customization of the executor functions and expanding the application scenarios of the executor.
- the execution module 330 the runtime environment calls the interface information of the executor according to the physical model and the user configuration parameters, and executes the logic of the extended function algorithm to realize the extended function of the executor corresponding to the extended function algorithm.
- the present disclosure also provides a computer-readable storage medium on which computer instructions are stored. When the computer instructions are executed, the method 100 described above is executed.
- the present disclosure also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the method 100 described above is implemented.
- Some aspects of the methods and devices of the present disclosure may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software.
- the above hardware or software may be referred to as “data blocks”, “modules”, “engines”, “units”, “components” or “systems”.
- the processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLCs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof.
- ASICs application specific integrated circuits
- DSPs digital signal processors
- DAPDs digital signal processing devices
- PLCs programmable logic devices
- FPGAs field programmable gate arrays
- processors controllers, microcontrollers, microprocessors, or combinations thereof.
- various aspects of the present disclosure may be expressed as computer products located in one or more
- Nouns and pronouns relating to persons in this patent application are not limited to a specific gender.
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Abstract
Description
本公开主要涉及工业数字化领域，尤其涉及一种执行器的功能配置方法及装置。The present disclosure mainly relates to the field of industrial digitalization, and in particular to a method and device for configuring the functions of an actuator.
执行器(actuator)是一种广泛应用于工业、楼宇等领域的执行设备。以阀门执行器为例，阀门执行器可驱动阀门(末端机构)的开闭，以调节阀门中流体的流速或者阀门区域的温度。执行器受控制器(例如PLC或DCS)控制，控制器中写有流速控制算法或温度控制算法，以实现对流速和温度的闭环控制。An actuator is a type of actuator widely used in industries, buildings, and other fields. Taking a valve actuator as an example, a valve actuator can drive the valve (terminal mechanism) to open and close to adjust the flow rate of the fluid in the valve or the temperature of the valve area. The actuator is controlled by a controller (such as a PLC or DCS), which has a flow rate control algorithm or a temperature control algorithm to achieve closed-loop control of the flow rate and temperature.
对于不同厂商生产的执行器，其对接的终端设备特性参数差异巨大，适配不同厂家终端设备和执行器应用时，存在参数不匹配导致性能下降的问题。此外，当前的控制算法是写入执行器的固件中的，用户或者工程师无法对固件中的控制算法进行修改或者升级，导致执行器的功能固化，无法满足不用应用场景的需求。For actuators produced by different manufacturers, the characteristic parameters of the terminal devices they connect to vary greatly. When adapting to terminal devices and actuator applications from different manufacturers, there is a problem of parameter mismatch leading to performance degradation. In addition, the current control algorithm is written into the actuator's firmware, and users or engineers cannot modify or upgrade the control algorithm in the firmware, resulting in the fixed function of the actuator, which cannot meet the needs of different application scenarios.
发明内容Summary of the invention
为了解决上述技术问题，本公开提供一种执行器的功能配置方法及装置，可扩展执行器的功能，满足不用应用场景的需求。In order to solve the above technical problems, the present disclosure provides a method and device for configuring the functions of an actuator, which can expand the functions of the actuator to meet the needs of different application scenarios.
为实现上述目的，本公开提出了一种执行器的功能配置方法，所述执行器连接至末端机构，用于驱动所述末端机构运动，所述功能配置方法包括：To achieve the above-mentioned purpose, the present disclosure proposes a function configuration method of an actuator, wherein the actuator is connected to an end mechanism and is used to drive the end mechanism to move, and the function configuration method comprises:
构建扩展功能包，所述扩展功能包包括所述末端机构的物理模型、用户配置参数和扩展功能算法，所述扩展功能算法可通过执行以实现所述执行器的扩展功能；Constructing an extended function package, the extended function package including a physical model of the terminal mechanism, user configuration parameters and an extended function algorithm, the extended function algorithm can be executed to realize the extended function of the actuator;
在所述执行器接收所述扩展功能包，并由所述执行器中的运行时环境解析出所述扩展功能包中的所述物理模型、用户配置参数和扩展功能算法；The executor receives the extended function package, and the runtime environment in the executor parses the physical model, user configuration parameters and extended function algorithm in the extended function package;
所述运行时环境根据所述物理模型和所述用户配置参数调用所述执行器的接口信息，执行所述扩展功能算法的逻辑，以实现所述扩展功能算法对应的所述执行器的扩展功能。The runtime environment calls the interface information of the actuator according to the physical model and the user configuration parameters, and executes the logic of the extended function algorithm to realize the extended function of the actuator corresponding to the extended function algorithm.
由此，本公开的实施例提供了一种执行器的功能配置方法，执行器中配置了运行时环境，运行时环境可以直接解析和执行发送到执行器的扩展功能包，实现扩展功能包中的扩展功能，从而实现了执行器功能的可扩展和定制化，扩展了执行器的应用场景。Therefore, an embodiment of the present disclosure provides a method for configuring the functions of an executor, in which a runtime environment is configured in the executor, and the runtime environment can directly parse and execute an extended function package sent to the executor to implement the extended functions in the extended function package, thereby achieving the extensibility and customization of the executor functions and expanding the application scenarios of the executor.
可选地，所述扩展功能为流量控制功能，所述运行时环境根据所述物理模型和所述用户配置参数调用所述执行器的接口信息，执行所述扩展功能算法的逻辑，以实现所述扩展 功能算法对应所述执行器的扩展功能包括：建立流速和流量之间映射关系的数据模型，获取流速传感器检测的流速值，根据所述流速值和所述数据模型计算出流量值，根据所述流量值和所述扩展功能算法实现执行器的流量控制功能。为此，通过基于数据模型的流量控制，无需安装流量传感器，降低了系统成本。Optionally, the extended function is a flow control function, and the runtime environment calls the interface information of the actuator according to the physical model and the user configuration parameters, and executes the logic of the extended function algorithm to implement the extended function. The functional algorithm corresponds to the extended functions of the actuator, including: establishing a data model of the mapping relationship between flow velocity and flow rate, obtaining the flow velocity value detected by the flow velocity sensor, calculating the flow rate value according to the flow velocity value and the data model, and realizing the flow control function of the actuator according to the flow rate value and the extended functional algorithm. Therefore, through the flow control based on the data model, there is no need to install a flow sensor, which reduces the system cost.
可选地，所述扩展功能为流量控制功能，所述运行时环境根据所述物理模型和所述用户配置参数调用所述执行器的接口信息，执行所述扩展功能算法的逻辑，以实现所述扩展功能算法对应所述执行器的扩展功能包括：配置流量传感器，获取所述流量传感器检测的流量值，根据所述流量值和所述功能算法实现执行器的流量控制功能。为此，通过流量传感器的流量数据进行流量控制，所见即所得，降低了计算量，避免了计算误差，提高了流量控制的准确性和效率。Optionally, the extended function is a flow control function, and the runtime environment calls the interface information of the actuator according to the physical model and the user configuration parameters, executes the logic of the extended function algorithm, and implements the extended function of the actuator corresponding to the extended function algorithm, including: configuring a flow sensor, obtaining the flow value detected by the flow sensor, and implementing the flow control function of the actuator according to the flow value and the function algorithm. To this end, flow control is performed through the flow data of the flow sensor, and what you see is what you get, which reduces the amount of calculation, avoids calculation errors, and improves the accuracy and efficiency of flow control.
可选地，所述方法包括：通过移动设备构建扩展功能包，在所述执行器接收所述移动设备发送的所述扩展功能包。为此，可以提高构建扩展功能包的灵活性和便利性，进而提高了执行器的功能配置的灵活性和便利性。Optionally, the method includes: constructing an extended function package through a mobile device, and receiving the extended function package sent by the mobile device at the executor. Therefore, the flexibility and convenience of constructing the extended function package can be improved, thereby improving the flexibility and convenience of functional configuration of the executor.
可选地，由所述执行器中的运行时环境解析出所述功能包中的所述物理模型、用户配置参数和功能算法包括：确定所述执行器的接口信息，根据所述接口信息创建运行时环境，并由所述运行时环境解析出所述功能包中的所述物理模型、用户配置参数和功能算法。为此，根据硬件设备信息创建运行时环境，使得运行时环境与执行器相适配，提高了功能配置的效率。Optionally, the physical model, user configuration parameters and function algorithm in the function package are parsed out by the runtime environment in the executor, including: determining the interface information of the executor, creating a runtime environment according to the interface information, and parsing out the physical model, user configuration parameters and function algorithm in the function package by the runtime environment. To this end, the runtime environment is created according to the hardware device information so that the runtime environment is adapted to the executor, thereby improving the efficiency of function configuration.
可选地，所述运行时环境为WebAssembly运行时环境。为此，提供了WebAssembly运行时环境。Optionally, the runtime environment is a WebAssembly runtime environment. To this end, a WebAssembly runtime environment is provided.
本公开还提出了一种执行器的功能配置装置，所述功能配置装置包括：The present disclosure also proposes a function configuration device for an actuator, the function configuration device comprising:
构建模块，构建扩展功能包，所述扩展功能包包括所述末端机构的物理模型、用户配置参数和扩展功能算法，所述扩展功能算法可通过执行以实现所述执行器的扩展功能；A construction module is used to construct an extended function package, wherein the extended function package includes a physical model of the terminal mechanism, user configuration parameters and an extended function algorithm, and the extended function algorithm can be executed to realize the extended function of the actuator;
解析模块，在所述执行器接收所述扩展功能包，并由所述执行器中的运行时环境解析出所述扩展功能包中的所述物理模型、用户配置参数和扩展功能算法；A parsing module receives the extended function package at the executor, and parses the physical model, user configuration parameters and extended function algorithm in the extended function package through a runtime environment in the executor;
执行模块，所述运行时环境根据所述物理模型和所述用户配置参数调用所述执行器的接口信息，执行所述扩展功能算法的逻辑，以实现所述扩展功能算法对应的所述执行器的扩展功能。An execution module, wherein the runtime environment calls the interface information of the actuator according to the physical model and the user configuration parameters, and executes the logic of the extended function algorithm to implement the extended function of the actuator corresponding to the extended function algorithm.
本公开还提出了一种电子设备，包括处理器、存储器和存储在所述存储器中的指令，其中所述指令被所述处理器执行时实现如上所述的方法。The present disclosure also proposes an electronic device, comprising a processor, a memory, and instructions stored in the memory, wherein the instructions implement the method as described above when executed by the processor.
本公开还提出了一种计算机可读存储介质，其上存储有计算机指令，所述计算机指令 在被运行时执行如上所述的方法。The present disclosure also provides a computer-readable storage medium having computer instructions stored thereon. When executed, the method described above is executed.
本公开还提出了一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实施如上所述的方法。The present disclosure also provides a computer program product, comprising a computer program, and when the computer program is executed by a processor, the method described above is implemented.
以下附图仅旨在于对本公开做示意性说明和解释，并不限定本公开的范围。其中，The following drawings are intended only to illustrate and explain the present disclosure, and do not limit the scope of the present disclosure.
图1是根据本公开的一实施例的一种执行器的功能配置方法的流程图；FIG1 is a flow chart of a method for configuring functions of an actuator according to an embodiment of the present disclosure;
图2是根据本公开的一实施例的一种阀门执行器的功能配置方法的示意图；FIG2 is a schematic diagram of a method for configuring functions of a valve actuator according to an embodiment of the present disclosure;
图3是根据本公开的一实施例的一种执行器的功能配置装置的示意图；FIG3 is a schematic diagram of a function configuration device of an actuator according to an embodiment of the present disclosure;
图4是根据本公开的一实施例的一种电子设备的示意图。FIG. 4 is a schematic diagram of an electronic device according to an embodiment of the present disclosure.
附图标记说明
100执行器的功能配置方法
110-130步骤
10阀门
20阀门执行器
201运行时环境
202第一通信单元
203应用控制器
204输出连接单元
205输入连接单元
206运动控制器
207存储
208电机驱动器
209电机
210传动机构
30移动设备
31扩展功能包
M阀门模型
301用户配置参数
302流量控制算法
303温度控制算法
32第二通信单元
FW固件
M物理模型Description of Reference Numerals
Functional configuration method of 100 actuators
Steps 110-130
10 Valves
20 valve actuator
201 Runtime Environment
202 first communication unit
203 Application Controller
204 Output connection unit
205 Input connection unit
206 Motion Controller
207 Storage
208 Motor Driver
209 Motor
210 transmission mechanism
30 Mobile devices
31 Extended Function Pack
M valve model
301 User Configuration Parameters
302 Flow Control Algorithm
303 Temperature Control Algorithm
32 Second communication unit
FW Firmware
M Physical Model
为了对本公开的技术特征、目的和效果有更加清楚的理解，现对照附图说明本公开的具体实施方式。In order to have a clearer understanding of the technical features, purposes and effects of the present disclosure, specific implementation methods of the present disclosure are now described with reference to the accompanying drawings.
在下面的描述中阐述了很多具体细节以便于充分理解本公开，但是本公开还可以采用其它不同于在此描述的其它方式来实施，因此本公开不受下面公开的具体实施例的限制。In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein, and therefore the present disclosure is not limited to the specific embodiments disclosed below.
如本申请和权利要求书中所示，除非上下文明确提示例外情形，“一”、“一个”、“一种”和/或“该”等词并非特指单数，也可包括复数。一般说来，术语“包括”与“包含”仅提示包括已明确标识的步骤和元素，而这些步骤和元素不构成一个排它性的罗列，方法或者设备也可能包含其他的步骤或元素。As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and/or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.
本公开提出了一种执行器的功能配置方法，图1是根据本公开的一实施例的一种执行器的功能配置方法100的流程图，如图1所示，功能配置方法100包括：The present disclosure proposes a function configuration method of an actuator. FIG1 is a flow chart of a function configuration method 100 of an actuator according to an embodiment of the present disclosure. As shown in FIG1 , the function configuration method 100 includes:
步骤110，构建扩展功能包，扩展功能包包括末端机构的物理模型、用户配置参数和扩展功能算法，扩展功能算法可通过执行以实现执行器的扩展功能；Step 110, constructing an extended function package, the extended function package including a physical model of the end mechanism, user configuration parameters and an extended function algorithm, the extended function algorithm can be executed to realize the extended function of the actuator;
执行器连接至末端机构，用于驱动末端机构运动。执行器可以是工业执行器或者HVAC执行器。以阀门执行器为例，阀门执行器连接至阀门，用于驱动阀门运动，即阀门的开合程度。扩展功能是与基础功能相对的，基础功能是出厂设置的，例如阀门执行器的速度控制功能和位置控制功能等。扩展功能并非是出厂设置的，可以由用户软件定义的方式来实现。在一些实施例中，可以在移动设备(例如手机)中构建扩展功能包，移动设备移动灵活性好，用户操作方便，可以提高构建扩展功能包的灵活性和便利性，进而提高了执行器的功能配置的灵活性和便利性。用户可以直接在移动设备的开发环境中开发扩展功能包，也可以通过应用商店或者云服务下载其他用户开发好的扩展功能包。The actuator is connected to the terminal mechanism and is used to drive the movement of the terminal mechanism. The actuator can be an industrial actuator or an HVAC actuator. Taking the valve actuator as an example, the valve actuator is connected to the valve to drive the movement of the valve, that is, the degree of opening and closing of the valve. The extended function is relative to the basic function, and the basic function is factory-set, such as the speed control function and position control function of the valve actuator. The extended function is not factory-set and can be implemented in a user-defined software manner. In some embodiments, an extended function package can be constructed in a mobile device (such as a mobile phone). The mobile device has good mobility and is easy for users to operate. It can improve the flexibility and convenience of constructing an extended function package, thereby improving the flexibility and convenience of the functional configuration of the actuator. Users can develop extended function packages directly in the development environment of the mobile device, or download extended function packages developed by other users through the application store or cloud service.
扩展功能包包括末端机构的物理模型、用户配置参数和扩展功能算法。末端机构的物理模型可以包括末端机构的特性参数，以末端机构是阀门为例，阀门的物理模型可以包括阀门的行程长度、死区长度、流量特性曲线参数、最小关闭力或关闭扭矩等阀门特性参数。用户配置参数可以用户输入的目标配置参数，例如阀门中流体的目标运行速度、目标最大输出力或扭矩、执行器的有效动作范围、阀门中流体的压差等。扩展功能算法是可通过执 行以实现执行器的扩展功能的算法，例如对于流量控制功能，扩展功能算法可以是流量控制PID算法。扩展功能算法还可以是高级功能算法，例如对于温度控制功能而言，执行器自带一些基础的温度控制算法，扩展功能算法可以提供一些高级温度控制算法，以适应不同的温度控制场景，提高温度控制的灵活性。The extended function package includes the physical model of the terminal mechanism, user configuration parameters and extended function algorithms. The physical model of the terminal mechanism may include the characteristic parameters of the terminal mechanism. For example, if the terminal mechanism is a valve, the physical model of the valve may include valve characteristic parameters such as valve stroke length, dead zone length, flow characteristic curve parameters, minimum closing force or closing torque, etc. The user configuration parameters may be the target configuration parameters input by the user, such as the target operating speed of the fluid in the valve, the target maximum output force or torque, the effective action range of the actuator, the pressure difference of the fluid in the valve, etc. The extended function algorithm is a parameter that can be executed by the actuator. The extended function algorithm can be used to implement the extended function of the actuator. For example, for the flow control function, the extended function algorithm can be a flow control PID algorithm. The extended function algorithm can also be an advanced function algorithm. For example, for the temperature control function, the actuator comes with some basic temperature control algorithms, and the extended function algorithm can provide some advanced temperature control algorithms to adapt to different temperature control scenarios and improve the flexibility of temperature control.
步骤120，在执行器接收扩展功能包，并由执行器中的运行时环境解析出扩展功能包中的物理模型、用户配置参数和扩展功能算法；Step 120, receiving the extended function package at the executor, and parsing the physical model, user configuration parameters and extended function algorithm in the extended function package by the runtime environment in the executor;
执行器可以通过无线连接的方式接收构建的扩展功能包。例如，在移动设备中构建的扩展功能包，可以通过5G网络或者Wi-Fi网络发送至执行器。执行器中配置有运行时环境(runtime environment，RTE)，运行时环境可以直接对扩展功能包进行解析，即解析出扩展功能包中的物理模型、用户配置参数和扩展功能算法，而无需根据执行器的软硬件环境部署扩展功能包。在一些实施例中，运行时环境可以为WebAssembly运行时环境。The executor can receive the constructed extended function package through a wireless connection. For example, the extended function package constructed in a mobile device can be sent to the executor through a 5G network or a Wi-Fi network. The executor is configured with a runtime environment (RTE), which can directly parse the extended function package, that is, parse out the physical model, user configuration parameters and extended function algorithm in the extended function package, without deploying the extended function package according to the software and hardware environment of the executor. In some embodiments, the runtime environment can be a WebAssembly runtime environment.
在一些实施例中，由执行器中的运行时环境解析出功能包中的物理模型、用户配置参数和功能算法包括：确定执行器的接口信息，根据接口信息创建运行时环境，并由运行时环境解析出功能包中的物理模型、用户配置参数和功能算法。执行器的接口信息可以包括操作系统信息、处理器信息、硬件设备信息，设备类型和设备操作等。根据运行时环境的资源数据和执行器的设备信息，可以创建适配的运行时环境。为此，根据硬件设备信息创建运行时环境，使得运行时环境与执行器相适配，提高了功能配置的效率。In some embodiments, the physical model, user configuration parameters and function algorithm in the function package are parsed by the runtime environment in the executor, including: determining the interface information of the executor, creating the runtime environment according to the interface information, and parsing the physical model, user configuration parameters and function algorithm in the function package by the runtime environment. The interface information of the executor may include operating system information, processor information, hardware device information, device type and device operation, etc. According to the resource data of the runtime environment and the device information of the executor, an adaptive runtime environment can be created. To this end, the runtime environment is created according to the hardware device information so that the runtime environment is adapted to the executor, thereby improving the efficiency of function configuration.
步骤130，运行时环境根据物理模型和用户配置参数调用执行器的接口信息，执行扩展功能算法的逻辑，以实现扩展功能算法对应的执行器的扩展功能。Step 130 , the runtime environment calls the interface information of the executor according to the physical model and the user configuration parameters, and executes the logic of the extended function algorithm to realize the extended function of the executor corresponding to the extended function algorithm.
解析出物理模型、用户配置参数和功能算法之后，运行时环境根据物理模型和用户配置参数调用执行器的接口信息执行扩展功能算法的逻辑，执行的结果是一连串指令，这些指令可以通过驱动器的动作传递到末端机构上，从而实现了扩展功能算法对应的执行器的扩展功能。为此，执行器中配置了运行时环境，运行时环境可以直接解析和执行发送到执行器的扩展功能包，实现扩展功能包中的扩展功能，从而实现了执行器功能的可扩展和定制化，扩展了执行器的应用场景。After parsing the physical model, user configuration parameters and functional algorithm, the runtime environment calls the interface information of the actuator according to the physical model and user configuration parameters to execute the logic of the extended function algorithm. The result of the execution is a series of instructions, which can be transmitted to the end mechanism through the action of the driver, thereby realizing the extended function of the actuator corresponding to the extended function algorithm. To this end, the runtime environment is configured in the actuator, and the runtime environment can directly parse and execute the extended function package sent to the actuator, realize the extended function in the extended function package, thereby realizing the extensibility and customization of the actuator function and expanding the application scenarios of the actuator.
在一些实施例中，扩展功能为流量控制功能，运行时环境根据物理模型和用户配置参数调用执行器的接口信息，执行扩展功能算法的逻辑，以实现扩展功能算法对应执行器的扩展功能包括：建立流速和流量之间映射关系的数据模型，获取流速传感器检测的流速值，根据流速值和数据模型计算出流量值，根据流量值和扩展功能算法实现执行器的流量控制功能。示例地，可以采集阀门的流速数据和流量数据，建立流速和流量之间映射关系的数据模型，获取流速传感器检测的流速值，根据流速值和数据模型计算出流量值，从而实现 了基于数据模型的流量控制，而无需采集流量数据本身。为此，通过基于数据模型的流量控制，无需安装流量传感器，降低了系统成本。In some embodiments, the extended function is a flow control function. The runtime environment calls the interface information of the actuator according to the physical model and user configuration parameters, and executes the logic of the extended function algorithm to implement the extended function of the actuator corresponding to the extended function algorithm, including: establishing a data model of the mapping relationship between flow rate and flow rate, obtaining the flow rate value detected by the flow rate sensor, calculating the flow rate value according to the flow rate value and the data model, and implementing the flow control function of the actuator according to the flow rate value and the extended function algorithm. For example, the flow rate data and flow rate data of the valve can be collected, a data model of the mapping relationship between flow rate and flow rate can be established, the flow rate value detected by the flow rate sensor can be obtained, and the flow rate value can be calculated according to the flow rate value and the data model, so as to implement The data model-based flow control is implemented without collecting the flow data itself. Therefore, the flow control based on the data model does not require the installation of flow sensors, thus reducing the system cost.
在一些实施例中，扩展功能为流量控制功能，运行时环境根据物理模型和用户配置参数调用执行器的接口信息，执行扩展功能算法的逻辑，以实现扩展功能算法对应执行器的扩展功能包括：配置流量传感器，获取流量传感器检测的流量值，根据流量值和功能算法实现执行器的流量控制功能。为此，通过流量传感器的流量数据进行流量控制，所见即所得，降低了计算量，避免了计算误差，提高了流量控制的准确性和效率。In some embodiments, the extended function is a flow control function, and the runtime environment calls the interface information of the actuator according to the physical model and the user configuration parameters, and executes the logic of the extended function algorithm to implement the extended function of the actuator corresponding to the extended function algorithm, including: configuring the flow sensor, obtaining the flow value detected by the flow sensor, and implementing the flow control function of the actuator according to the flow value and the function algorithm. To this end, flow control is performed through the flow data of the flow sensor, and what you see is what you get, which reduces the amount of calculation, avoids calculation errors, and improves the accuracy and efficiency of flow control.
下面提供一个阀门执行器的功能配置的示例，图2是根据本公开的一实施例的一种阀门执行器的功能配置方法的示意图。An example of functional configuration of a valve actuator is provided below. FIG2 is a schematic diagram of a method for functional configuration of a valve actuator according to an embodiment of the present disclosure.
图2示出了阀门10，阀门执行器20和移动设备30。FIG. 2 shows a valve 10 , a valve actuator 20 and a mobile device 30 .
阀门10设置在管道中，通过开闭程度来调节管道中流体的流速和流量。阀门执行器20连接至阀门10，用于控制阀门10的开闭程度。阀门执行器20和移动设备30通过第一通信单元202和第二通信单元32无线连接。The valve 10 is arranged in the pipeline, and the flow rate and the flow rate of the fluid in the pipeline are adjusted by the degree of opening and closing. The valve actuator 20 is connected to the valve 10, and is used to control the degree of opening and closing of the valve 10. The valve actuator 20 and the mobile device 30 are wirelessly connected through the first communication unit 202 and the second communication unit 32.
如图2所示，移动设备30包括扩展功能包31和第二通信单元32。扩展功能包31由用户通过移动设备30构建，包括阀门物理模型M，用户配置参数301，流量控制器302和温度控制器303。阀门物理模型M包括阀门10的物理参数，用于表示阀门10的物理特性。用户配置参数301由用户输入，可以包括参数目标值，例如流速目标值。流量控制器302包括流量控制算法，温度控制器303包括温度控制算法。As shown in FIG2 , the mobile device 30 includes an extended function package 31 and a second communication unit 32. The extended function package 31 is constructed by the user through the mobile device 30, and includes a valve physical model M, user configuration parameters 301, a flow controller 302, and a temperature controller 303. The valve physical model M includes physical parameters of the valve 10, which are used to represent the physical characteristics of the valve 10. The user configuration parameters 301 are input by the user and may include parameter target values, such as flow rate target values. The flow controller 302 includes a flow control algorithm, and the temperature controller 303 includes a temperature control algorithm.
执行器30的第一通信单元202从第二通信单元32接收扩展功能包31，转发至WebAssembly运行时环境201。运行时环境201解析扩展功能包31中的阀门物理模型M，用户配置参数301，流量控制器302和温度控制器303，根据阀门物理模型M和用户配置参数301执行流量控制器302中的流量控制算法或温度控制器303中的温度控制算法，执行结果以指令的形式发送到应用控制器203中，应用控制器203输出指令至运动控制器206，运动控制器206输出指令至电机驱动器208，电机驱动器208根据指令驱动电机209，电机209运动通过传动机构210带动阀门开闭。在此过程中，电机驱动器208反馈电机电流至运动控制器206，电机209反馈电机位置至运动控制器206，传动机构210反馈执行器位置至应用控制器203。由此，执行器201的固件FW中配置了运行时环境201，可以解析和执行扩展功能包31，扩展了流量控制功能和温度控制功能。The first communication unit 202 of the actuator 30 receives the extended function package 31 from the second communication unit 32 and forwards it to the WebAssembly runtime environment 201. The runtime environment 201 parses the valve physical model M, user configuration parameters 301, flow controller 302 and temperature controller 303 in the extended function package 31, executes the flow control algorithm in the flow controller 302 or the temperature control algorithm in the temperature controller 303 according to the valve physical model M and the user configuration parameters 301, and sends the execution result to the application controller 203 in the form of an instruction. The application controller 203 outputs the instruction to the motion controller 206, and the motion controller 206 outputs the instruction to the motor driver 208. The motor driver 208 drives the motor 209 according to the instruction, and the movement of the motor 209 drives the valve to open and close through the transmission mechanism 210. In this process, the motor driver 208 feeds back the motor current to the motion controller 206, the motor 209 feeds back the motor position to the motion controller 206, and the transmission mechanism 210 feeds back the actuator position to the application controller 203. Thus, the runtime environment 201 is configured in the firmware FW of the actuator 201, and the extended function package 31 can be parsed and executed, thereby extending the flow control function and the temperature control function.
执行器30还包括输入连接单元205和输出连接单元204。输入连接单元205可以接收传感器采集的温度信号、流速信号、用户控制信号等，和输出连接单元204可以输出反馈信号。执行器30还包括存储207，存储207可以存储执行器30中涉及到相关数据和指令。 The actuator 30 further includes an input connection unit 205 and an output connection unit 204. The input connection unit 205 can receive temperature signals, flow rate signals, user control signals, etc. collected by sensors, and the output connection unit 204 can output feedback signals. The actuator 30 further includes a storage 207, which can store relevant data and instructions involved in the actuator 30.
本公开的实施例提供了一种执行器的功能配置方法，执行器中配置了运行时环境，运行时环境可以直接解析和执行发送到执行器的扩展功能包，实现扩展功能包中的扩展功能，从而实现了执行器功能的可扩展和定制化，扩展了执行器的应用场景。An embodiment of the present disclosure provides a method for configuring the functions of an executor, wherein a runtime environment is configured in the executor, and the runtime environment can directly parse and execute an extended function package sent to the executor to implement the extended functions in the extended function package, thereby achieving the extensibility and customization of the executor functions and expanding the application scenarios of the executor.
本公开还提出了一种执行器的功能配置装置，图3是根据本公开的一实施例的一种执行器的功能配置装置300的示意图，如图3所示，功能配置装置300包括：The present disclosure further proposes a function configuration device for an actuator. FIG3 is a schematic diagram of a function configuration device 300 for an actuator according to an embodiment of the present disclosure. As shown in FIG3 , the function configuration device 300 includes:
构建模块310，构建扩展功能包，扩展功能包包括执行器的物理模型、用户配置参数和扩展功能算法，扩展功能算法可通过执行以实现执行器的扩展功能；A construction module 310 is used to construct an extended function package, wherein the extended function package includes a physical model of the actuator, user configuration parameters, and an extended function algorithm, and the extended function algorithm can be executed to realize the extended function of the actuator;
解析模块320，在执行器接收扩展功能包，并由执行器中的运行时环境解析出扩展功能包中的物理模型、用户配置参数和扩展功能算法；The parsing module 320 receives the extended function package at the executor, and parses the physical model, user configuration parameters and extended function algorithm in the extended function package by the runtime environment in the executor;
执行模块330，运行时环境根据物理模型和用户配置参数调用执行器的接口信息，执行扩展功能算法的逻辑，以实现扩展功能算法对应的执行器的扩展功能。The execution module 330, the runtime environment calls the interface information of the executor according to the physical model and the user configuration parameters, and executes the logic of the extended function algorithm to realize the extended function of the executor corresponding to the extended function algorithm.
本公开还提出一种电子设备400。图4是根据本公开的一实施例的一种电子设备400的示意图。如图4所示，电子设备400包括处理器410和存储器420，存储器420存储中存储有指令，其中指令被处理器410执行时实现如上文所述的方法100。The present disclosure also provides an electronic device 400. Fig. 4 is a schematic diagram of an electronic device 400 according to an embodiment of the present disclosure. As shown in Fig. 4, the electronic device 400 includes a processor 410 and a memory 420, wherein the memory 420 stores instructions, wherein when the instructions are executed by the processor 410, the method 100 described above is implemented.
本公开还提出一种计算机可读存储介质，其上存储有计算机指令，计算机指令在被运行时执行如上文所述的方法100。The present disclosure also provides a computer-readable storage medium on which computer instructions are stored. When the computer instructions are executed, the method 100 described above is executed.
本公开还提出一种计算机程序产品，包括计算机程序，计算机程序被处理器执行时实施上文所述的方法100。The present disclosure also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the method 100 described above is implemented.
本公开的方法和装置的一些方面可以完全由硬件执行、可以完全由软件(包括固件、常驻软件、微码等)执行、也可以由硬件和软件组合执行。以上硬件或软件均可被称为“数据块”、“模块”、“引擎”、“单元”、“组件”或“系统”。处理器可以是一个或多个专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理器件(DAPD)、可编程逻辑器件(PLC)、现场可编程门阵列(FPGA)、处理器、控制器、微控制器、微处理器或者其组合。此外，本公开的各方面可能表现为位于一个或多个计算机可读介质中的计算机产品，该产品包括计算机可读程序编码。例如，计算机可读介质可包括，但不限于，磁性存储设备(例如，硬盘、软盘、磁带……)、光盘(例如，压缩盘(CD)、数字多功能盘(DVD)……)、智能卡以及闪存设备(例如，卡、棒、键驱动器……)。Some aspects of the methods and devices of the present disclosure may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLCs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. In addition, various aspects of the present disclosure may be expressed as computer products located in one or more computer-readable media, which include computer-readable program codes. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes ...), optical disks (e.g., compact disks (CDs), digital versatile disks (DVDs) ...), smart cards, and flash memory devices (e.g., cards, sticks, key drives ...).
在此使用了流程图用来说明根据本申请的实施例的方法所执行的操作。应当理解的是，前面的操作不一定按照顺序来精确地执行。相反，可以按照倒序或同时处理各种步骤。同时，或将其他操作添加到这些过程中，或从这些过程移除某一步或数步操作。Flowchart is used here to illustrate the operations performed according to the method of the embodiment of the present application. It should be understood that the above operations are not necessarily performed accurately in order. On the contrary, various steps can be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or a certain step or several steps of operations may be removed from these processes.
应当理解，虽然本说明书是按照各个实施例描述的，但并非每个实施例仅包含一个独 立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。It should be understood that although the present specification is described in accordance with various embodiments, not every embodiment includes only one embodiment. The technical solutions in the embodiments are described in this way only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.
以上所述仅为本公开示意性的具体实施方式，并非用以限定本公开的范围。任何本领域的技术人员，在不脱离本公开的构思和原则的前提下所作的等同变化、修改与结合，均应属于本公开保护的范围。The above description is only an illustrative embodiment of the present disclosure and is not intended to limit the scope of the present disclosure. Any equivalent changes, modifications and combinations made by any technician in the field without departing from the concept and principle of the present disclosure shall fall within the scope of protection of the present disclosure.
本专利申请中关于人的名词和代词不限于具体性别。 Nouns and pronouns relating to persons in this patent application are not limited to a specific gender.
Claims (10)
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| PCT/CN2023/138870 WO2025123296A1 (en) | 2023-12-14 | 2023-12-14 | Function configuration method and device for actuator |
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| PCT/CN2023/138870 WO2025123296A1 (en) | 2023-12-14 | 2023-12-14 | Function configuration method and device for actuator |
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