CN101256109B - Controller for oscillation center of electric vibration table with barometrial compensation control - Google Patents

Controller for oscillation center of electric vibration table with barometrial compensation control Download PDF

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Publication number
CN101256109B
CN101256109B CN2008100844527A CN200810084452A CN101256109B CN 101256109 B CN101256109 B CN 101256109B CN 2008100844527 A CN2008100844527 A CN 2008100844527A CN 200810084452 A CN200810084452 A CN 200810084452A CN 101256109 B CN101256109 B CN 101256109B
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controller
signal
circuit
coil
control
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CN101256109A (en
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陈俊
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Suzhou Dongling Vibration Test Instrument Co Ltd
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Suzhou Dongling Vibration Test Instrument Co Ltd
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Abstract

The invention disclose an electrodynamic vibration table vibrating centre control device with air pressure compensate control, which includes a static controller and a dynamic controller, and the invention is characterized in that the control device also includes an air pressure compensate control circuit, the circuit detects moving coil gasbag gate or air pressure in air cell through the baroceptor and outputs voltage signal which reflects air pressure value, the voltage signal is divided into two signals after the AC signal is filtered by the filter circuit: one signal goes through the voltage latch circuit, the other signal goes through the inverting circuit, two signals are superposed by the supercircuit and inputted into the static controller by a compensate control. The invention has the advantages that: the air pressure compensate control circuit is setup, which solves the conflict between the dynamic controller and the static controller, and improves systemic safety and reliability; the invention has simple structure, works reliably and has high control precision; the voltage latch circuit of the invention has simple structure and high precision.

Description

The electric vibration table centre of oscillation controller of band atmospheric pressure compensating control
Technical field
The present invention relates to dynamic environmental test equipment, be specifically related to a kind of electric vibration table centre of oscillation controller with atmospheric pressure compensating control.
Background technology
Electric vibration testing bench (hereinafter to be referred as shaking table) is a kind of testing equipment that test specimen is carried out the vibration simulation test.Can evaluate the anti-seismic performance of a product by vibration test, for quality and the design of examining this product provides rational foundation.Therefore, electric vibration testing bench is widely used in industries such as Aeronautics and Astronautics, navigation, boats and ships, automobile, electronics, communication, household electrical appliances and instrument and meter.
Electric vibration testing bench utilizes the electric and magnetic oscillation principle design, and its structure mainly is made up of stage body (magnetic cylinder, magnetic cylinder cap, central magnetic pole and magnetic cylinder bottom), field coil, moving-coil, support and several parts such as guide piece, cooling device and driving circuit.Wherein moving-coil mainly is made of work top and the drive coil that is wound on the work top skeleton; Driving circuit mainly is made of given signal source (being generally controller) and power amplifier, and driving circuit provides electric energy to drive coil.During shaking table work, in field coil, inject DC current, in the working gas gap of stage body, can produce a constant magnetic field, inject exchange current to the drive coil that is arranged in working gas gap.According to the law of electromagnetic induction, drive coil can drive work top around a certain centre of oscillation and do double vibrations.
Shaking table is following in working order, and it is crucial how setting with keeping the position in the moving-coil centre of oscillation.What shaking table manufacturer employing both at home and abroad was more at present is static controller and dynamic controller.
Static controller mainly is the centre of oscillation that utilizes mechanical suspension strut device control table top.Mechanicalness suspension strut device generally is made of air spring or the supercharging air chamber that resilient suspension that hangs moving-coil top and compensation are supported in moving-coil bottom.Static controller is judged the moving-coil center by displacement transducer, and the center by moving-coil is controlled in the inflation and the venting of air spring or supercharging air chamber.Static controller is restricted by the shaking table principle of work, and only relatively effective in the test specimen process of loading and in the process of shaking table high frequency operation, the control of center is powerless during for the shaking table low-frequency operation.When shaking table is operated in displacement field and speed district (low frequency region), moving coil framework (conductor) athletic meeting in magnetic field produces electromotive force (generating effect), this electromotive force forms current return through moving coil framework, this electric current will produce the reacting force that hinders the moving-coil motion in working gas gap, this acting force can cause the dynamic drift in moving-coil center.Facts have proved that static controller is helpless for the dynamic drift of moving-coil center.
In order to overcome dynamic drift, the dynamic controller in the centre of oscillation arises at the historic moment.It judges the center of moving-coil by displacement transducer, allow power amplifier in drive coil, inject an electric current extraly, make moving-coil produce an extra control and come counteracting counterforce, thereby the drift of restriction moving-coil remains unchanged the moving-coil center.
Position, the centre of oscillation has effectively been controlled in application dynamic and static controller, but there is two large problems in practical application, at first dynamic controller adopts the conversion and control mode of electricity-magnetic-Li, and transient process is very of short duration, usually at Millisecond, and static controller adopts and to charge and discharge the gas mode and control, its transient process is longer, usually in level second, so the action effect of dynamic controller is much larger than static controller, in case dynamic controller enters worker's state, static controller has just lost effect.If support air bag or air chamber gas leakage, when closing power amplifier (dynamic controller realizes that by power amplifier in case close power amplifier, dynamic controller is ineffective immediately), can cause under the moving-coil and dash, when the test specimen quality is very big, can cause moving-coil and test specimen badly damaged.Current domestic high thrust shaking table adopts airtight construction more, guarantee the strict air tight very difficulty of whole supercharging air chamber, the test specimen quality of high thrust shaking table reaches thousands of kilograms sometimes simultaneously, and is generally expensive satellite, guided missile etc., in case similar accident occurs, consequence is hardly imaginable.Secondly dynamic controller adopts the conversion and control mode of electricity-magnetic-Li, and DC current (DC current is proportional to the weight of shaketalle test product) is arranged in the moving-coil all the time, makes the moving-coil heating, and cooling worsens, if moving-coil is blocked, even burns out moving-coil
Summary of the invention
In view of this, the object of the present invention is to provide a kind of electric vibration table centre of oscillation controller with atmospheric pressure compensating control, this controller not only unites two into one static controller and dynamic controller, also overcome conflicting between static controller and the dynamic controller, realized effective Balance Control is carried out in position, the centre of oscillation by atmospheric pressure compensating control.
For achieving the above object, the technical solution used in the present invention is as follows:
A kind of electric vibration table centre of oscillation controller with atmospheric pressure compensating control, comprise static controller and dynamic controller, it is characterized in that this centre of oscillation controller also comprises the atmospheric pressure compensating control circuit, this circuit detects the air pressure in moving-coil support air bag or the air chamber by baroceptor and exports the voltage signal of reflection air pressure size, by being divided into two-way after the filtering circuit filtering AC signal: the one tunnel through the superpotential latch cicuit, another road is through negative circuit, and two paths of signals is input to static controller by the supercircuit stack after compensate gauge tap.
Described centre of oscillation controller is by the distance between a displacement transducer detection and the displacement trasducer, output is the voltage signal of reflection moving-coil displacement indirectly, and subtract each other with a given reference voltage, after a low pass filter filters out alternating component, be divided into two-way, one the tunnel is input to dynamic controller carries out mobile equilibrium control, and another road is input to static controller and carries out static balancing control.
Described displacement transducer adopts non-contact displacement transducer.
Described displacement trasducer is rigidly fixed in the lateral surface of moving-coil, and described displacement transducer is fixed on the magnetic cylinder cap, and its probe is in the face of displacement trasducer.
Described dynamic controller mainly is made up of a power amplifier that is electrically connected with drive coil, and this power amplifier provides and latchs trigger pip to described voltage latch cicuit.
Described voltage latch cicuit comprises signal condition and AD translation circuit, DA conversion and signal conditioning circuit and a microcontroller, signal condition and AD translation circuit receive one tunnel output of described filtering circuit, analog signal conversion is become digital signal, this digital signal is converted to simulating signal output through DA conversion and signal conditioning circuit under the control of microcontroller, described microcontroller is controlled by the described trigger pip that latchs.
Described dynamic controller mainly is made up of a power amplifier that is electrically connected with drive coil, disconnection and closure that this power amplifier provides control signal to control described compensation gauge tap.
Described static controller comprise PI controller, judgement and driving circuit and fill, air release, judge the output signal that receives the PI controller with driving circuit, judge with driving circuit output two-way drive signal to fill, air release, be used to control filling, exitting of moving-coil support air bag or air chamber.
Described judgement and driving circuit comprise two comparers, a pulse producer and the two-way driving circuit that receives the PI controller output signal, the output of two comparers respectively with the output of pulse producer carry out with logic after, be input to the two-way driving circuit, the output of two-way driving circuit connect respectively fill, air release.
Described centre of oscillation controller also comprises the displacement holding circuit excessively that is used for sending to described dynamic controller guard signal.
The present invention is by being provided with the atmospheric pressure compensating control circuit, utilizes baroceptor to detect in moving-coil support air bag or the air chamber air pressure size and converts thereof into voltage signal.This voltage signal comprises two compositions, and one is the AC signal (for garbage signal) that moving-coil is done the double vibrations generation, and another is the direct current signal that moving-coil air pressure is supported in reflection.Voltage signal is wave circuit filtering Alternating Component after filtration, obtains reflecting the direct current signal that supports moving-coil air pressure.This direct current signal is divided into two-way: the one tunnel through the superpotential latch cicuit, and another road is through negative circuit, and two paths of signals superposes by supercircuit.When dynamic controller is worked (power amplifier output enable), compensation gauge tap closure, the signal after the stack is input to static controller through the compensation gauge tap, reaches the compensation control action to dynamic controller, realizes atmospheric pressure compensating control.
The principle of atmospheric pressure compensating control is as follows: when dynamic controller is not worked (power amplifier output is closed), it is invalid to latch trigger pip, and the output of voltage latch cicuit changes with input.When dynamic controller is worked (power amplifier output enable), the output of voltage latch cicuit remains unchanged, and its amplitude is the amplitude that previous moment latchs trigger pip input signal when effective.When support air bag or air chamber gas leakage, the direct current signal that moving-coil air pressure is supported in reflection reduces, and because the control of dynamic controller, the output signal of voltage latch cicuit remains unchanged, so the increase of the output signal of supercircuit, is imported into static controller.This moment, static controller was started working, and drove gas filling valve, realized atmospheric pressure compensating control, guaranteed that the air pressure in support air bag or the air chamber remains unchanged.This moment is not if there is atmospheric pressure compensating control, along with gas leakage f 1Continue to reduce f 2Continue to increase up to f 2=G, promptly all wt is all born by the acting force of dynamic controller).In case, close power amplifier, the moving-coil stress balance is upset, and forms under the moving-coil to dash, and makes moving-coil bump magnetic cylinder, causes moving-coil to damage.After having increased atmospheric pressure compensating control, even close power amplifier, moving-coil still can rest on position, the centre of oscillation, can not dash down, has guaranteed the safety of system.
The present invention utilizes displacement transducer and displacement trasducer to detect the displacement signal of electric jigging platform moving coil with respect to the magnetic cylinder, has comprised the absolute vibration displacement of moving-coil and the side-play amount in the moving-coil centre of oscillation in this signal.Displacement signal is divided into two-way, and one the tunnel through becoming the direct current signal of reflection centre of oscillation side-play amount behind the low-pass filter, and this direct current signal is respectively as the input of dynamic and static controller; Another road is as the input signal of crossing the displacement holding circuit.The setting value of crossing the action of displacement holding circuit is to set according to the mechanical trip that moving-coil is allowed.After the moving-coil relative shift exceeds setting value, to cross the displacement holding circuit and send guard signal to power amplifier, power amplifier cuts out output immediately.Power amplifier is the core component of dynamic controller, and after power amplifier cut out, dynamic controller was just ineffective.Behind another road signal process low-pass filter, the AC signal that filtering is useless, the direct current signal of only remaining reflection moving-coil centre of oscillation side-play amount.This direct current signal is divided into two-way, and one the tunnel outputs to power amplifier, and the centre of oscillation is dynamically controlled; One the tunnel output to by PI controller, judgement and driving circuit and fill, static controller that air release is formed.
Beneficial effect of the present invention is:
1, the invention solves conflicting between dynamic controller and the static controller, strengthened the security and the reliability of system;
2, the present invention is simple in structure, reliable operation, control accuracy height;
3, the voltage latch cicuit among the present invention is simple in structure, power precision height.
Description of drawings
The invention will be further elaborated below in conjunction with the drawings and specific embodiments.
Accompanying drawing 1 is control principle figure of the present invention;
Accompanying drawing 2 is displacement transducer and displacement trasducer synoptic diagram;
Accompanying drawing 3 is displacement transducer and displacement trasducer fundamental diagram;
Accompanying drawing 4 is a voltage latch cicuit schematic diagram;
Accompanying drawing 5 is for judging and the driving circuit schematic diagram;
Accompanying drawing 6 is a pressure compensation control mechanics schematic diagram.
Embodiment
As shown in Figure 1 and Figure 2, a kind of electric vibration table centre of oscillation controller with atmospheric pressure compensating control, rigidity is equipped with displacement trasducer 4 on the moving-coil 2 of shaking table, and displacement transducer 1 is installed on the magnetic cylinder cap.Displacement transducer 1 is by the distance between detection and the displacement trasducer 4, output is the voltage signal of the displacement of reflection moving-coil 2 indirectly, and subtract each other with a given reference voltage, after low-pass filter LF1 filtering alternating component, be divided into two-way, one the tunnel is input to the core component power amplifier of dynamic controller, power amplifier is connected with moving-coil, is used for the electric current outside the drive coil amount of exports, and mobile equilibrium control is carried out in position, the centre of oscillation; Another road is input to static controller and carries out static balancing control.Displacement transducer 1 can adopt current vortex sensor, inductance type transducer or laser type sensor.
Static controller comprise PI controller, judgement and driving circuit and fill, air release, the input end of PI controller is as the input end of static controller, the output terminal connection judgment and the driving circuit of PI controller are judged with driving circuit and are exported two paths of signals to gas filling valve and air release.Gas filling valve all is connected with support air bag or air chamber 3 with air release, is used to control filling, exitting of support air bag or air chamber 3, realizes static balancing control is carried out in position, the centre of oscillation.
Judgement and driving circuit are as shown in Figure 5, comprise two comparers, pulse producer and the two-way driving circuit that receive the PI controller output signal, the output of two comparers respectively with the output of pulse producer by with door AND carry out with logic after, be input to the two-way driving circuit, the output of two-way driving circuit connect respectively fill, air release, be used to control filling, exitting of support air bag or air chamber 3.Two comparer combined actions can judge that the moving-coil centre of oscillation is upwards skew or offsets downward, if upwards side-play amount exceeds the error amount of setting, the action of driving circuit control air release makes support air bag or air chamber 3 venting, and position, the moving-coil centre of oscillation descends; If the amount of offseting downward exceeds the error amount of setting, the action of driving circuit control gas filling valve makes support air bag or air chamber 3 inflations, and the moving-coil centre of oscillation rises on the position.Pulse producer for fill, air release has been set frequency of operation and dutycycle, can effectively improve static control accuracy, reduces steady oscillation.
Displacement trasducer and displacement transducer principle of work as shown in Figure 3, the inclined-plane of displacement trasducer 4 becomes the θ angle with Y-axis.Under the equilibrium state, moving-coil is positioned at the centre of oscillation, shown in Fig. 3 (a).When moving-coil moves when departing from the centre of oscillation along Y-axis, shown in Fig. 3 (b), if this moment, moving-coil was y with respect to the amount of exercise in the centre of oscillation, displacement trasducer 4 is x with respect to displacement transducer 1 along the converted quantity of X-direction, x=y tan θ is then arranged, the output U=kx=ky tan θ of displacement transducer 1, wherein k and tan θ are constant.Therefore the output of displacement transducer 1 can reflect the displacement that moving-coil moves vertically and the side-play amount in the centre of oscillation.
In the atmospheric pressure compensating control circuit, baroceptor is connected with support air bag or air chamber 3, be used for detecting the voltage signal of support air bag or air chamber 3 gaseous tensions and output reflection pressure size, by being divided into two-way after the low-pass filter LF2 filtering AC signal: the one tunnel through the superpotential latch cicuit, another road is through negative circuit, two paths of signals superposes by supercircuit, through the input end that compensation gauge tap K1 is input to static controller, realizes atmospheric pressure compensating control.
The voltage latch cicuit as shown in Figure 4, be input to signal condition and A/D convertor circuit from one road signal of low-pass filter LF2 output, analog signal conversion is become digital signal, and this digital signal is converted to simulating signal output through DA conversion and signal conditioning circuit under the control of microcontroller.Microcontroller is subjected to control from the trigger pip that latchs of power amplifier.
Atmospheric pressure compensating control mechanics principle supposes among the figure that m is the summation of moving-coil, test specimen and other support component equivalent mass as shown in Figure 6; G is the suffered gravity of quality m, G=mg, and wherein g is an acceleration of gravity; F makes the acting force of double vibrations for driving moving-coil; f 1Acting force for static controller; f 2Acting force for dynamic controller; f 3For making moving-coil produce the acting force of dynamic deviation in the moving-coil motion process.After system powered on, because power amplifier does not start, dynamic controller was invalid, and the static controller effect is only arranged, at this moment f 2=0, f 3=0, f=0.Under the static controller effect, quality m stress balance, f at this moment 1With the G equal and opposite in direction, direction is opposite, i.e. f 1=-G, the centre of oscillation does not have skew.After power amplifier starts, dynamic controller work, static controller lost efficacy (because dynamic controller is more much higher than static controller to the control accuracy of position, the centre of oscillation to displacement signal, the output of low-pass filter LF1 is controlled in the trickle error range by dynamic controller, this error does not trigger the work of static controller, and this moment, static controller was only by the atmospheric pressure compensating signal controlling).Behind the system vibration, f ≠ 0, but f is an alternating force, and mean value is zero, and it can not destroy the position in the centre of oscillation.The moving-coil vibration produces f 3≠ 0, f 3Mean value non-vanishing, just caused the skew in the centre of oscillation, dynamic controller applies one and f in order to keep the centre of oscillation constant to system 3Equal and opposite in direction, direction opposite effect power, i.e. f 2=-f 3More than analysis is the acting force f at static controller 1Finish under the constant prerequisite.When system's gas leakage, must cause f 1Reduce f 1The air pressure that supports moving-coil that reduces to be directly reflected as reduce, the direct current signal that moving-coil air pressure is supported in reflection reduces thereupon, and because the control of dynamic controller, the output signal of voltage latch cicuit remains unchanged, therefore the output signal of supercircuit increases, and is imported into static controller.If close power amplifier this moment suddenly, dynamic controller lost efficacy, and static controller is started working, and drove gas filling valve, the acting force f of static controller 1Increase, realized atmospheric pressure compensating control.
In the electric vibration table, the vibration displacement of moving-coil is subjected to the restriction of moving-coil mechanical trip, in case the vibration displacement of moving-coil exceeds mechanical trip, moving-coil will clash into the magnetic cylinder with bigger speed or acceleration, thereby causes moving-coil to damage.Therefore present embodiment comprises that also one crosses the displacement holding circuit, and as shown in Figure 1, this circuit is connected electrically between the input end and power amplifier of low-pass filter LF1.The output of displacement transducer 1 and a given reference voltage subtract each other, and after the precision rectifer rectification, compare with the given displacement setting value of crossing, in case exceed the given displacement setting value output protection signal immediately of crossing.Guard signal is transported to power amplifier by photoisolator, closes power amplifier output, thereby makes dynamic control fails.
The foregoing description only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the personage who is familiar with this technology understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.All equivalences that spirit is done according to the present invention change or modify, and all should be encompassed within protection scope of the present invention.

Claims (8)

1. the electric vibration table centre of oscillation controller with atmospheric pressure compensating control comprises static controller and dynamic controller, it is characterized in that this centre of oscillation controller also comprises:
Be installed on the lateral surface of moving-coil of shaking table respectively and a displacement trasducer and a displacement transducer on the magnetic cylinder cap, displacement transducer is by the distance between detection and the displacement trasducer, output is the voltage signal of the displacement of reflection moving-coil indirectly, and subtract each other with a given reference voltage, after a low pass filter filters out alternating component, be divided into two-way, one the tunnel is input to dynamic controller carries out mobile equilibrium control, and another road is input to static controller and carries out static balancing control;
One atmospheric pressure compensating control circuit, this circuit detects the air pressure in moving-coil support air bag or the air chamber by baroceptor and exports the voltage signal of reflection air pressure size, by being divided into two-way after the filtering circuit filtering AC signal: the one tunnel through the superpotential latch cicuit, another road is through negative circuit, and two paths of signals is input to static controller by the supercircuit stack after compensate gauge tap;
And one cross the displacement holding circuit, is used for sending guard signal to described dynamic controller.
2. the electric vibration table centre of oscillation controller of band atmospheric pressure compensating control as claimed in claim 1 is characterized in that described displacement transducer adopts non-contact displacement transducer.
3. the electric vibration table centre of oscillation controller of band atmospheric pressure compensating control as claimed in claim 1 is characterized in that described displacement trasducer is rigidly fixed in the lateral surface of moving-coil, and the probe of described displacement transducer is in the face of displacement trasducer.
4. the electric vibration table centre of oscillation controller of band atmospheric pressure compensating control as claimed in claim 1, it is characterized in that described dynamic controller comprises a power amplifier that is electrically connected with drive coil, this power amplifier provides and latchs trigger pip to described voltage latch cicuit.
5. the electric vibration table centre of oscillation controller of band atmospheric pressure compensating control as claimed in claim 4, it is characterized in that described voltage latch cicuit comprises signal condition and AD translation circuit, DA conversion and signal conditioning circuit and a microcontroller, signal condition and AD translation circuit receive one tunnel output of described filtering circuit, analog signal conversion is become digital signal, this digital signal is converted to simulating signal output through DA conversion and signal conditioning circuit under the control of microcontroller, described microcontroller is controlled by the described trigger pip that latchs.
6. the electric vibration table centre of oscillation controller of band atmospheric pressure compensating control as claimed in claim 1, it is characterized in that described dynamic controller comprises a power amplifier that is electrically connected with drive coil, disconnection and closure that this power amplifier provides control signal to control described compensation gauge tap.
7. the electric vibration table centre of oscillation controller of band atmospheric pressure compensating control as claimed in claim 1, it is characterized in that described static controller comprise PI controller, judgement and driving circuit and fill, air release, judge the output signal that receives the PI controller with driving circuit, judge be clipped to driving circuit output two-way drive signal branch fill, air release, be used to control filling, exitting of moving-coil support air bag or air chamber.
8. the electric vibration table centre of oscillation controller of band atmospheric pressure compensating control as claimed in claim 7, it is characterized in that described judgement and driving circuit comprise two comparers, a pulse producer and the two-way driving circuit that receives the PI controller output signal, the output of two comparers respectively with the output of pulse producer carry out with logic after, be input to the two-way driving circuit, the output of two-way driving circuit connect respectively fill, air release.
CN2008100844527A 2008-03-24 2008-03-24 Controller for oscillation center of electric vibration table with barometrial compensation control Expired - Fee Related CN101256109B (en)

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