CN101183050B - Electrohydraulic servo valve dynamic performance testing method for measuring displacement - Google Patents

Electrohydraulic servo valve dynamic performance testing method for measuring displacement Download PDF

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CN101183050B
CN101183050B CN2007101784660A CN200710178466A CN101183050B CN 101183050 B CN101183050 B CN 101183050B CN 2007101784660 A CN2007101784660 A CN 2007101784660A CN 200710178466 A CN200710178466 A CN 200710178466A CN 101183050 B CN101183050 B CN 101183050B
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frequency
signal
test
displacement
error
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CN101183050A (en
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汪首坤
王军政
赵江波
马立玲
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Abstract

The present invention provides a high precision testing method for the dynamic performance of an electro-hydraulic servo valve which is based on displacement measurement. The present invention belongs to the field of the testing technology of the electro-hydraulic servo valve. A displacement sensor is used as the testing element for the movement of a no load cylinder in the present invention. A displacement signal and a current signal are treated by hardware conditioning, A/D conversion, digital filter, differential transform, phase shift treatment and related analysis. The dynamic performance of the electro-hydraulic servo valve is accurately tested. The present invention uses the combined method of accurate frequency testing and interpolation calculation, so the sinusoidal signal frequency error generated by signal source is eliminated; the testing error caused by an actuating signal error is effectively reduced; the dynamic performance of the electro-hydraulic servo valve and the testing precision of phase frequency characteristic are significantly improved.

Description

A kind of electrohydraulic servo valve dynamic performance testing method of displacement measurement
Technical field
The present invention is a kind of electrohydraulic servo valve dynamic performance high precision measurement method based on displacement measurement, belongs to the technical field of measurement and test of electrohydraulic servo valve.
Background technology
Electrohydraulic servo valve can be converted into hydraulic pressure signal with electric signal, is the core key element of electrohydraulic servo system, is widely used in fields such as Aeronautics and Astronautics, metallurgy, vehicle, electric power and weaponry.The dynamic property of electrohydraulic servo valve directly affects the quality of servo-drive system, and the dynamic performance testing of electrohydraulic servo valve is the difficult point of field tests always.
The electrohydraulic servo valve input signal is a current signal, and output signal is a flow signal, and its dynamic characteristic test is meant the dynamic response relation of the flow signal of output with the current signal frequency change of input.It is generally acknowledged that electrohydraulic servo valve is a linear stational system, if input current signal is a sinusoidal signal, its delivery rate signal also is the same frequency sinusoidal signal, and its amplitude and phase place decay take place along with the increase of signal frequency and lag behind.
Owing to lack high sensitivity and high-precision dynamic flow sensor always, therefore, the electrohydraulic servo valve delivery rate is generally measured indirectly by the no-load oil cylinder.Very high through particular design and precision machined no-load oil cylinder natural frequency, almost there is not leakage under the high pressure, kinetic friction force is very little, therefore, the movement velocity of no-load oil cylinder can be equivalent to the dynamic delivery rate of electrohydraulic servo valve.
The test of traditional electrohydraulic servo valve dynamic performance adopts speed pickup to measure the Dynamic Signal of no-load oil cylinder, is subjected to the influence of speed pickup inherent characteristic, and traditional measurement method exists that test specification is narrow, signal quality is subjected to installation accuracy to influence problems such as big.Simultaneously, because the inherent characteristic of crystal oscillator and frequency divider is difficult to accurately produce many special test frequency points in the signal generator, has caused the frequency error of given signal, influenced the measuring accuracy of amplitude versus frequency characte and phase-frequency characteristic, particularly more serious during high-frequency test.
Summary of the invention
The objective of the invention is to propose a kind of electrohydraulic servo valve dynamic performance high precision measurement method of displacement measurement, solved the problem that conventional test methodologies exists (need that the speed pickup of high precision fast-response, measurement range are narrow, some Frequency point errors make that greatly the dynamic performance testing precision is low etc.) effectively, simplify test process greatly, significantly improved electrohydraulic servo valve dynamic characteristic test precision.
The present invention adopts displacement sensor no-load oil cylinder dynamic displacement, obtains rate signal by displacement signal being carried out a series of analyzing and processing, calculates the frequency characteristic of electrohydraulic servo valve.Displacement signal and current signal at first amplify through hardware filtering, be transformed into the normal voltage signal, high-speed collection card (plate carries FIFO) is carried out high-speed synchronous A/D conversion to this two paths of signals, then digital signal is carried out software digital filter, and displacement signal carried out obtaining after differential transform and phase shift are handled no-load oil cylinder rate signal and corresponding constantly current signal, obtain the dynamic perfromance of electrohydraulic servo valve servo-valve at last by the correlation analysis accurate Calculation.
For the sinusoidal signal frequency error that the erasure signal source produces, the present invention proposes the method for testing that the precise frequency test combines with interpolation calculation.At first test frequency is carried out error analysis, if frequency error is bigger, then carry out respectively accurate low frequency value (less than and nearest precise frequency point) test and accurately high frequency value (greater than and nearest precise frequency point) test, at last test result is carried out linear interpolation, result of calculation is as the test result of particular frequencies point.The present invention has effectively eliminated the signal frequency error, and the dynamic perfromance that has significantly improved electrohydraulic servo valve is the measuring accuracy of phase-frequency characteristic particularly.
The present invention is achieved in that
Adopt displacement transducer as no-load oil cylinder motion detection elements, after displacement signal and current signal amplify through hardware filtering, the high-speed collection card of being carried FIFO by plate is carried out synchronous A/D conversion to this two paths of signals, by computer software two paths of signals is carried out identical digital filtering, displacement signal is carried out obtaining no-load oil cylinder rate signal after differential transform, the phase shift processing, obtain the dynamic perfromance of servo-valve again by the correlation analysis accurate Calculation of two paths of signals;
Adopt self-adaptation mean filter method, remove noise signal; Under the constant situation of A/D sampling rate, the cycle data amount under the different excitation frequencies is different, if sampling rate is f s, minimum sampling number is 50 in wave period, then count K and test frequency f of filtering cThere is following relation:
K ≤ 1 50 f s f c , K ≥ 1
The effect that differential is handled is to calculate velocity amplitude according to the displacement meter behind the digital filtering, and its ultimate principle is according to the adjacent point-to-point transmission displacement variable and the time interval, calculates 2 velocity amplitude; If sampling rate is f s, displacement data is S i, speed V then iCan calculate by following formula:
V i＝(S i+1-S i)f s
The effect of correlation analysis is that the input electrical signal of servo-valve and output speed signal are carried out correlating transforms, calculates between the two amplitude ratio and phase differential; Correlation analysis is a kind of Processing Algorithm based on correlation filtering, and it has the good restraining effect to interference noise;
According to the differential Processing Algorithm as can be known, what additive process was calculated is the average velocity of point-to-point transmission, rather than instantaneous velocity, and this has just caused phase error to end product; The effect of phase shift conversion is further to improve processing accuracy, reduces the phase error of additive process, and particularly high band is more important; If counting, the waveform of one-period is N, then the phase differential θ after the phase shift conversion 1With original phase difference θ 0Between have a following relation:
θ i = θ 0 - π N
Can revise the phase error that causes because of differential transform according to above relational expression, thereby guarantee measuring accuracy;
The frequency of test signal is mainly by the decision of counting of crystal oscillator, frequency counter and waveform in the signal generator card; Crystal oscillator frequency generally is changeless, and test frequency is to count and change by frequency counter and waveform are set, if crystal oscillator frequency is f 0, the frequency counter value is K, waveform is counted and is N, then signal frequency f cAvailable following formula calculates:
f c = f 0 KN
Because frequency counter value and waveform are counted and can only be set to integer, therefore at some special frequency test points, the signal that the signal generator card produces has bigger frequency error; By analysis as can be known, frequency error will strengthen rapidly along with the increase of test point frequency.
The mode that adopts the precise frequency test to combine with interpolation calculation is at first carried out error analysis to the test point frequency, and whether the determination frequency error is greater than setting threshold; For the bigger test point of frequency error, at first choose one less than and the nearest precise frequency point of distance test frequency, carry out the test of accurate low frequency value, next choose one greater than and the nearest precise frequency point of distance test frequency, carry out accurate high frequency value test; At last interpolation is carried out in accurate low frequency test and accurate high-frequency test result, with the test result of result of calculation as particular frequencies point.
Beneficial effect of the present invention: the present invention contrasts prior art and has solved the problem that conventional test methodologies exists (need that the speed pickup of high precision fast-response, measurement range are narrow, some Frequency point errors make that greatly the dynamic performance testing precision is low etc.) effectively, simplify test process greatly, significantly improved electrohydraulic servo valve dynamic characteristic test precision.
Description of drawings
Fig. 1 is the electrohydraulic servo valve dynamic performance test philosophy block diagram based on displacement measurement.
Specific implementation method
The invention will be further described below in conjunction with drawings and Examples.
As shown in Figure 1, the displacement signal of displacement transducer output and the input current signal of electrohydraulic servo valve at first pass through the hardware modulate circuit, are transformed into the Computer signal of standard.The hardware modulate circuit has effects such as current conversion, hardware filtering and signal amplification: current signal can not be directly by computer acquisition, and its high-accuracy sampling resistance by modulate circuit changes into-voltage signal of 10～10V; The effect of hardware filtering is to eliminate the HF noise signal that is comprised in the original signal, and the filtering cutoff frequency prevents to cause signal amplitude decay and phase lag generally greater than 2KHz when high-frequency test; The signal amplification has three grades of amplifications (amplifying 2 times, 5 times and 10 times), and the little displacement signal during the centering high-frequency test carries out waveform and amplifies, and improves signal quality.
Shift simulation signal and current signal are converted to digital signal after gathering through A/D, by software two paths of signals is carried out identical digital filtering, in addition displacement signal is carried out differential transform, phase shift and handles, obtain rate signal after, calculate dynamic indicator by correlation analysis.Signal digital is handled and is comprised several steps such as filtering, differential, phase shift and correlation analysis.
The effect of digital filtering is further to remove noise signal, and the present invention adopts self-adaptation mean filter method.Under the constant situation of A/D sampling rate, cycle data amount under the different excitation frequencies is different, for example: single channel A/D sampling rate is 200K/s, and the cycle data when test frequency is 10Hz is 2000, and the cycle data when test frequency is 100Hz is 200.If sampling rate is f s, minimum sampling number is 50 in wave period, then count K and test frequency f of filtering cThere is following relation:
K ≤ 1 50 f s f c , K ≥ 1
The effect that differential is handled is to calculate velocity amplitude according to the displacement meter behind the digital filtering, and its ultimate principle is according to the adjacent point-to-point transmission displacement variable and the time interval, calculates 2 velocity amplitude.If sampling rate is f s, displacement data is S i, speed V then iCan calculate by following formula:
V i＝(S i+1-S i)f s
The effect of correlation analysis is that the input electrical signal of servo-valve and output speed signal are carried out correlating transforms, calculates between the two amplitude ratio and phase differential.Correlation analysis is a kind of Processing Algorithm based on correlation filtering, and it has the good restraining effect to interference noise.
According to the differential Processing Algorithm as can be known, what additive process was calculated is the average velocity of point-to-point transmission, rather than instantaneous velocity, and this has just caused phase error to end product.The effect of phase shift conversion is further to improve processing accuracy, reduces the phase error of additive process, and particularly high band is more important.If counting, the waveform of one-period is N, then the phase differential θ after the phase shift conversion 1With original phase difference θ 0Between have a following relation:
θ i = θ 0 - π N
Can revise the phase error that causes because of differential transform according to above relational expression, thereby guarantee measuring accuracy.
The frequency of test signal is mainly by the decision of counting of crystal oscillator, frequency counter and waveform in the signal generator card.Crystal oscillator frequency generally is changeless, and test frequency is to count and change by frequency counter and waveform are set, if crystal oscillator frequency is f 0, the frequency counter value is K, waveform is counted and is N, then signal frequency f cAvailable following formula calculates:
f c = f 0 KN
Because frequency counter value and waveform are counted and can only be set to integer, therefore at some special frequency test points, the signal that the signal generator card produces has bigger frequency error.For example, if frequency test point is 101Hz, waveform is counted and is made as 500, and can calculate the frequency counter value according to formula is 40, and then the actual signal frequency is 100Hz, and frequency error is 1Hz.By analysis as can be known, frequency error will strengthen rapidly along with the increase of test point frequency.
For amplitude-frequency and the phase-frequency characteristic error that the erasure signal frequency error is produced, the present invention has designed the method for testing that a kind of precise frequency test combines with interpolation calculation.As shown in Figure 1, its groundwork process is as follows: at first the test point frequency is carried out error analysis, whether the determination frequency error is greater than setting threshold; For the bigger test point of frequency error, at first choose one less than and the nearest precise frequency point of distance test frequency, carry out the test of accurate low frequency value, next choose one greater than and the nearest precise frequency point of distance test frequency, carry out accurate high frequency value test; At last interpolation is carried out in accurate low frequency test and accurate high-frequency test result, with the test result of result of calculation as particular frequencies point.

Claims (2)

1. the electrohydraulic servo valve dynamic performance testing method of a displacement measurement, it is characterized in that: adopt displacement transducer as no-load oil cylinder motion detection elements, after displacement signal and current signal amplify through hardware filtering, the high-speed collection card of being carried FIFO by plate is carried out synchronous A/D conversion to this two paths of signals, by computer software two paths of signals is carried out identical digital filtering, displacement signal is carried out obtaining no-load oil cylinder rate signal after differential transform, the phase shift processing, obtain the dynamic perfromance of servo-valve again by the correlation analysis accurate Calculation of two paths of signals;
Adopt self-adaptation mean filter method, remove noise signal; Under the constant situation of A/D sampling rate, the cycle data amount under the different excitation frequencies is different, if sampling rate is f s, minimum sampling number is 50 in wave period, then count K and test frequency f of filtering cThere is following relation:
K ≤ 1 50 f s f c , K≥1
The effect of differential transform is to calculate velocity amplitude according to the displacement meter behind the digital filtering, and its ultimate principle is according to the adjacent point-to-point transmission displacement variable and the time interval, calculates 2 velocity amplitude; If sampling rate is f s, displacement data is S i, speed V then iCan calculate by following formula:
V i＝(S i+1-S i)f s
The effect of correlation analysis be will current signal through hardware filtering amplify, A/D gathers and digital filtering after the signal and the output speed signal that obtain carry out correlating transforms, calculate between the two amplitude than and phase differential; Correlation analysis is a kind of Processing Algorithm based on correlation filtering, and it has the good restraining effect to interference noise.
According to the differential transform algorithm as can be known, what differential transform calculated is the average velocity of point-to-point transmission, rather than instantaneous velocity, and this has just caused phase error to end product; The effect that phase shift is handled is further to improve processing accuracy, reduces the phase error of differential transform; If counting, the waveform of one-period is N, the phase differential θ after then phase shift is handled 1With original phase difference θ 0Between have a following relation:
θ i = θ 0 - π N
Can revise the phase error that causes because of differential transform according to above relational expression, thereby guarantee measuring accuracy.
Test frequency is mainly by the decision of counting of crystal oscillator, frequency counter and waveform in the signal generator card; Crystal oscillator frequency generally is changeless, and test frequency is to count and change by frequency counter and waveform are set, if crystal oscillator frequency is f 0, the frequency counter value is K, waveform is counted and is N, then signal frequency f cAvailable following formula calculates:
f c = f 0 KN
Because frequency counter value and waveform are counted and can only be set to integer, therefore at some special frequency test points, the signal that the signal generator card produces has bigger frequency error.
2. the electrohydraulic servo valve dynamic performance testing method of a kind of displacement measurement as claimed in claim 1, it is characterized in that: the mode that adopts the precise frequency test to combine with interpolation calculation, at first test frequency is carried out error analysis, whether the determination frequency error is greater than setting threshold; For the bigger test point of frequency error, at first choose one less than and the nearest precise frequency point of distance test frequency, carry out the test of accurate low frequency value, next choose one greater than and the nearest precise frequency point of distance test frequency, carry out accurate high frequency value test; At last interpolation is carried out in accurate low frequency test and accurate high-frequency test result, with the test result of result of calculation as the big test point of this frequency error.
CN2007101784660A 2007-11-30 2007-11-30 Electrohydraulic servo valve dynamic performance testing method for measuring displacement Expired - Fee Related CN101183050B (en)

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