CN101850854A - Ultra-low frequency modal test suspension system - Google Patents
Ultra-low frequency modal test suspension system Download PDFInfo
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- CN101850854A CN101850854A CN 201010191331 CN201010191331A CN101850854A CN 101850854 A CN101850854 A CN 101850854A CN 201010191331 CN201010191331 CN 201010191331 CN 201010191331 A CN201010191331 A CN 201010191331A CN 101850854 A CN101850854 A CN 101850854A
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Abstract
The invention discloses an ultra-low frequency modal test suspension system, comprising a modal test suspension device and a monitoring computer for realizing remote detection and monitoring. The monitoring computer is connected with an Ethernet router; an air tank and a pneumatic actuator are connected with an air pressure control MPU (Microprocessor Unit); a suspension follower is connected with a linear displacement coder, a suspension force sensor and an electromagnetic force sensor; an electromagnetic actuator is connected with a power amplifier; the linear displacement coder is connected with a CPLD (Complex Programable Logic Device) processing module which is connected with an electromagnetic force control MPU; the suspension force sensor and the electromagnetic force sensor are connected with the electromagnetic force control MPU; the air pressure control MPU and the electromagnetic force control MPU are both connected with a modal suspension control MPU; and the modal suspension control MPU is connected with the Ethernet controller which is connected with the Ethernet. The invention realizes fully digital control, improves the work efficiency, improves the control precision and reduces the influence of the accessories on the modal test.
Description
Technical field
The present invention relates to a kind of suspension of ultra-low frequency modal test special use.
Background technology
Low frequency or ulf framing member are done dynamic test in Simulated Weightlessness needs special suspension gear.Suspension gear has following performance: hang test specimen and allow mass range wide; Extremely low rigidity; Low added mass influence; Extremely low zerofriction force; The suspension type of dynamic test adopts the suspension gear bottom to draw the suspension wirerope, hangs the wirerope lower end and hangs test specimen.The a plurality of suspension gears of general use are hung same test specimen.Be of convenient length when hanging wirerope, just formed pendulum effect.Horizontal direction only is subjected to flexible constraint power.
A principal character of space environment is weightless.This has drawn Simulated Weightlessness framing member has been made the dynamically classical problem of test.The gravity of test specimen must use suspension force balance in addition, and does not introduce tangible dynamic constrained power at the point of action of suspension force.These dynamic constrained power are to be caused by suspension apparatus rigidity, added mass, friction force or mode of vibration etc.They can change the Mode Shape of test specimen.The condition that can satisfy this accurate simulation is called freedom-freedom (free-free) boundary condition.
The power that the acquisition of freedom-free boundary condition produces much smaller than test specimen rigidity and inertia based on the dynamic constrained power of suspension apparatus.The rigid motion frequency that universally recognized principle is the suspension apparatus vertical direction is lower than order of magnitude of test specimen fundamental frequency.When test specimen fundamental frequency during greater than 20Hz, freedom-free boundary condition more easily obtains, and test specimen is suspended on the simple Hookean spring get final product.But when the test specimen fundamental frequency was near or below 1Hz, the suspension problem became and has challenge.
At present, it is the mode test suspension of 60350-DA that only there is the model of U.S. CSA engineering company in the whole world, 621 pounds of maximum suspended weights of this system, and vertically suspending frequency in midair is 0.1Hz, this system has been that research center such as U.S. NASA langley is used.
Mode test suspension is utilized the floating principle of pneumatic magnetic, fully eliminates the influence of suspension follow-up unit to added mass, additional stiffness and the additional friction of test specimen.This systems control division branch comprises that air operated control, electromagnetic force control etc. all realize with analogous circuit.
Suspension apparatus groundwork and structure
Fig. 1 has represented the groundwork of the suspension apparatus of CSA company: be made of two parallel subsystems.One is pneumatic subsystem 1; Another is an electromagnetism subsystem 2.The name of the floating suspension apparatus of pneumatic magnetic obtains therefrom.Pneumatic subsystem 1 is called again by subsystem, and electromagnetism subsystem 2 is called initiatively subsystem again.Do not constituted by having friction cylinder-piston, outside storage tank, manual accurate reducing valve etc. by subsystem.Initiatively the controller that constitutes by customised long travel audio frequency moving-coil vibration excitor and supporting power amplifier, displacement pickup and preamplifier and low-pass filter, acceleration pick-up and preamplifier and low-pass filter, high-precision pressure sensor and preamplifier and fluctuation of pressure treatment circuit, by analogous circuit of subsystem etc. constitutes.
Pneumatic subsystem provides the constant suspension force gravity with the balance test specimen, and the size of suspension force is to act on the air pressure on the piston and the product of piston area.Because piston area is constant, suspension force is directly proportional with air pressure.Air pressure uses manual accurate reducing valve manual adjustment.The electromagnetism subsystem provides non-contacting electromagnetic force.To satisfy the various demands of suspension apparatus to small power.
Fig. 2 is the simplified model of suspension gear.Power Fp and power Fm represent the application force of the air bellow that pneumatic subsystem is abstracted into and the application force of the electromagnetic spring that the electromagnetism subsystem is abstracted into respectively among the figure.The rigidity of these two springs is represented with kp and km respectively.Damping coefficient Cp represents the shock damping action of accurate reducing valve.Whole gravity of test specimen M are born by the piston that does not only have friction cylinder-piston apparatus at the purpose made of movement in vertical direction.Cylinder is connected to storage tank by tracheae makes the volume of storage tank become volume of cylinder.The rigidity of air bellow becomes very little like this, keeps the ability of bearing big load test specimen simultaneously.Accurate reducing valve makes the average pressuure of cylinder be stabilized in setting value, and the suspension force of indirect feasible nothing friction cylinder-piston is stable.During little volume-variation, resemble Hookean spring series damped device with the cylinder-piston performance of accurate reducing valve.Isentropic process is come calculation expression in the rigidity available heat mechanical equation of spring.
Summary of the invention
The deficiency that adopt analogous circuit in order to overcome existing mode test suspension control part, reduce frequency of operation, control accuracy is low, optional feature is bigger to the influence of modal test, the invention provides a kind of full digital control, improve frequency of operation, promote control accuracy, and reduce the ultra-low frequency modal test suspension system of optional feature the influence of modal test.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of ultra-low frequency modal test suspension system, comprise the modal test suspension gear, described ultra-low frequency modal test suspension system also comprises in order to realize the supervisory control computer of remote monitoring and monitoring, described supervisory control computer is connected with ethernet router, the storage tank of described modal test suspension gear and pneumatic actuator connect digital apportioning valve and baroceptor, described numerical scale valve is connected with air pressure control MPU by the D/A control module, and described baroceptor is connected with described air pressure control MPU; The suspension follow-up unit of described modal test suspension gear and straight-line displacement coder, the suspension force sensor is connected with electro magnetic force sensor, the electromagnetic actuator of described modal test suspension gear is connected with power amplifier, described straight-line displacement coder with in order to fine resolution straight-line displacement code signal is converted to the CPLD processing module of acceleration signal, described CPLD processing module is connected with electromagnetic force control MPU, described suspension force sensor is connected with the A/D sampling module with electro magnetic force sensor, described A/D sampling module is connected with described electromagnetic force control MPU, described air pressure control MPU all hangs control MPU with described mode with described electromagnetic force control MPU and is connected, described mode hangs control MPU and is connected with ethernet controller, and described ethernet controller is connected with ethernet.
Further, described modal test suspension gear also comprises the wireless hand-held man-machine interface, described wireless hand-held man-machine interface is connected with the PSK debugging module, and described PSK debugging module is connected with wireless receiving and dispatching control MPU, and described wireless receiving and dispatching control MPU hangs control MPU with described mode and is connected.
Further again, described mode hangs the order that control MPU accepts supervisory control computer or the transmission of wireless hand-held man-machine interface, control command and parameter are passed to response electromagnetic force control MPU or air pressure control MPU respectively, and sensing data, status data that each MPU gathers are connected to network router by ethernet controller are sent to supervisory control computer or wireless hand-held man-machine interface.
Further, atmospheric pressure value and air pressure setup parameter that described air pressure control MPU baroceptor is gathered, the control figure apportioning valve, thus change storage tank air pressure, simulated air spring function.
Further again, described electromagnetic force control MPU in order to the simulation electromagnetic spring, and realizes that air pressure control to slow response compensates, the suspension gear center keeps.
Technical conceive of the present invention is: whole ultra-low frequency modal test suspension system connects the network of the modal test suspension gear formation of maximum 10 platform independent, realize that by network router all the mode suspension gears on many computer and networks connect, thereby realize the mode of operation of remote monitoring modal test suspension gear, realize arbitrary suspension gear parameter is provided with and control.Every computing machine all can carry out parameter setting and control, real-time data acquisition, curve drafting and show every suspension gear mode of operation any suspension gear.Every suspension gear all is an independently intellegent sampling control system that is made of multiprocessor, and interconnected with the master-slave mode realization by the SPI universal serial bus between each controller, each controller distributes, co-ordination.
Described hand-held man-machine interface realizes by the 640*360 colour liquid crystal display device; Detecting data and curve shows, accept customer parameter and control command input by the touch-screen of installing on the LCDs, connect into hand-held man-machine interface MPU by touch screen controller, hand-coding device #1 and hand-coding device #2 realize the coarse adjustment and the accurate adjustment setting of setting value, and by the CPLD processing modules implement hand-held man-machine interface MPU is changed and be sent to code device signal.Realize wireless receiving and dispatching by the PSK modulation module.
Because the suspension gear installation site is on more than 10 meters high platform, and the modal test object is on ground, therefore the parameter of every suspension gear is regulated extremely inconvenient in the modal test process, can be by the wireless hand-held man-machine interface in the adjusting of ground realization to all parameters of suspension gear, both avoided running back and forth up and down, and can see whole mode of operations of suspension gear again in real time.By operation interface independently, adopt chromatic liquid crystal screen to show mode of operation and parameter, data and the curve of every suspension gear, by the touch screen operation suspension gear, realize convenient, flexible adjustment by CPLD to parameter by the hand-coding device.The user can see the adjustment effect easily and intuitively in every suspension gear adjustment process, because employing is digital control, but the equal precise quantification of all parameters both can also can pass through the computer realization remote operation directly in the device adjusted.
Every suspension gear all can be gathered and data handing signals such as air pressure, electromagnetic force, suspension force, displacements simultaneously, adopt specific digital algorithm to the sensor data and parameter is set carries out computing, finally obtain air pressure and electromagnetic actuator controlling valu, realize accurately control in real time, to satisfy every technical index of modal test suspension system.
Because whole suspension gear is a ulf, the acceleration change value is very little in the motion process, noise signal is disturbed and is easily caused system out of control when adopting acceleration pick-up, therefore and the CPLD processing module of design specialized, fine resolution straight-line displacement code device signal is processed into acceleration signal, replaces acceleration pick-up to realize the force of inertia inhibit feature of follow-up unit.
Beneficial effect of the present invention mainly shows: 1, can reduce the frequency of operation of device by a relatively large margin, improve control accuracy, reduce the influence of optional feature to modal test; 2,, reduced in the controlling unit external disturbance to the influence of system stability, but all parameter precise quantifications are easy and simple to handle directly perceived, high conformity between each device in the same system by digital control system.
Description of drawings
Fig. 1 is a ulf suspension gear schematic diagram.
Fig. 2 is a ulf suspension gear simplified model.
Fig. 3 is the modal test suspension system constructional drawing.
Fig. 4 is a separate unit suspension gear constructional drawing.
Fig. 5 is a wireless hand-held man-machine interface constructional drawing.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1～Fig. 5, a kind of ultra-low frequency modal test suspension system, comprise the modal test suspension gear, described ultra-low frequency modal test suspension system also comprises in order to realize the supervisory control computer of remote monitoring and monitoring, described supervisory control computer is connected with ethernet router, the storage tank of described modal test suspension gear and pneumatic actuator connect digital apportioning valve and baroceptor, described numerical scale valve is connected with air pressure control MPU by the D/A control module, and described baroceptor is connected with described air pressure control MPU; The suspension follow-up unit of described modal test suspension gear and straight-line displacement coder, the suspension force sensor is connected with electro magnetic force sensor, the electromagnetic actuator of described modal test suspension gear is connected with power amplifier, described straight-line displacement coder with in order to fine resolution straight-line displacement code signal is converted to the CPLD processing module of acceleration signal, described CPLD processing module is connected with electromagnetic force control MPU, described suspension force sensor is connected with the A/D sampling module with electro magnetic force sensor, described A/D sampling module is connected with described electromagnetic force control MPU, described air pressure control MPU all hangs control MPU with described mode with described electromagnetic force control MPU and is connected, described mode hangs control MPU and is connected with ethernet controller, and described ethernet controller is connected with ethernet.
Further, described modal test suspension gear also comprises the wireless hand-held man-machine interface, described wireless hand-held man-machine interface is connected with the PSK debugging module, and described PSK debugging module is connected with wireless receiving and dispatching control MPU, and described wireless receiving and dispatching control MPU hangs control MPU with described mode and is connected.
Further again, described mode hangs the order that control MPU accepts supervisory control computer or the transmission of wireless hand-held man-machine interface, control command and parameter are passed to response electromagnetic force control MPU or air pressure control MPU respectively, and sensing data, status data that each MPU gathers are connected to network router by ethernet controller are sent to supervisory control computer or wireless hand-held man-machine interface.
Further, atmospheric pressure value and air pressure setup parameter that described air pressure control MPU baroceptor is gathered, the control figure apportioning valve, thus change storage tank air pressure, simulated air spring function.
Further again, described electromagnetic force control MPU in order to the simulation electromagnetic spring, and realizes that air pressure control to slow response compensates, the suspension gear center keeps.
Modal test suspension system as shown in Figure 3 can connect 10 modal test suspension gears at most, realize data communication by ethernet controller between each suspension gear and host computer, realize inserting computing machine by network router, can connect many computing machines simultaneously, be connected into a monitor network, realize the concentrated remote monitoring and the control of total system.
Every suspension gear structure as shown in Figure 4, by the Collaborative Control of 4MPU realization to suspension gear, the wherein effect of " air pressure control MPU " and " electromagnetic force control MPU " difference simulated air spring and electromagnetic spring, the wireless receiving and dispatching controller " realize the data of wireless hand-held man-machine interface are sent and receive." mode device control MPU " is as SPI communication master controller, accept the order that upper computer sends, control command and parameter are passed to corresponding MPU respectively, and sensing data, status data that each MPU is gathered are connected to network and are sent to computing machine by ethernet controller.Each " hand-held man-machine interface " connects independently liquid crystal display, can show this device working data and curve, parameter and mode of operation respectively are set, this MPU also connects touch-screen and hand-coding device simultaneously, the realization parameter is independently imported, and realizes wireless data transceiving by the PSK modulation module.
" air pressure control MPU " mainly realizes sampling of high precision baroceptor and the control of numerical scale valve, thereby realizes the air bellow function.Baroceptor wherein is a high-precision digital, adopts the RS-485 interface directly to export digital signal.MPU should be worth as foundation, and according to user's presetting condition control output DA value, realized accurate air pressure control by DA value control figure apportioning valve." electromagnetic force control MPU " mainly realizes the effect of electromagnetic spring.Also realize the controls such as influence that air pressure control compensates, the suspension gear center keeps and eliminates the follow-up unit added mass simultaneously to slow response.As shown in Figure 4 in the constructional drawing, the contactless straight-line displacement coder that uses is used to realize the suspension gear displacement detecting, " CPLD processing module " among the figure is with capturing and coding device numerical value and be converted into shift value and send " electromagnetic force control MPU " to, adopt specific algorithm to calculate accekeration simultaneously, substitute the synchronous acquisition of acceleration pick-up realization acceleration/accel and displacement, power value.
Claims (5)
1. ultra-low frequency modal test suspension system, comprise the modal test suspension gear, it is characterized in that: described ultra-low frequency modal test suspension system also comprises in order to realize the supervisory control computer of remote monitoring and monitoring, described supervisory control computer is connected with ethernet router, the storage tank of described modal test suspension gear and pneumatic actuator connect digital apportioning valve and baroceptor, described numerical scale valve is connected with air pressure control MPU by the D/A control module, and described baroceptor is connected with described air pressure control MPU; The suspension follow-up unit of described modal test suspension gear and straight-line displacement coder, the suspension force sensor is connected with electro magnetic force sensor, the electromagnetic actuator of described modal test suspension gear is connected with power amplifier, described straight-line displacement coder with in order to fine resolution straight-line displacement code signal is converted to the CPLD processing module of acceleration signal, described CPLD processing module is connected with electromagnetic force control MPU, described suspension force sensor is connected with the A/D sampling module with electro magnetic force sensor, described A/D sampling module is connected with described electromagnetic force control MPU, described air pressure control MPU all hangs control MPU with described mode with described electromagnetic force control MPU and is connected, described mode hangs control MPU and is connected with ethernet controller, and described ethernet controller is connected with ethernet.
2. ultra-low frequency modal test suspension system as claimed in claim 1, it is characterized in that: described modal test suspension gear also comprises the wireless hand-held man-machine interface, described wireless hand-held man-machine interface is connected with the PSK debugging module, described PSK debugging module is connected with wireless receiving and dispatching control MPU, and described wireless receiving and dispatching control MPU hangs control MPU with described mode and is connected.
3. ultra-low frequency modal test suspension system as claimed in claim 2, it is characterized in that: described mode hangs the order that control MPU accepts supervisory control computer or the transmission of wireless hand-held man-machine interface, control command and parameter are passed to response electromagnetic force control MPU or air pressure control MPU respectively, and sensing data, status data that each MPU gathers are connected to network router by ethernet controller are sent to supervisory control computer or wireless hand-held man-machine interface.
4. ultra-low frequency modal test suspension system as claimed in claim 2 is characterized in that: atmospheric pressure value and air pressure setup parameter that described air pressure control MPU baroceptor is gathered, and the control figure apportioning valve, thus change storage tank air pressure, simulated air spring function.
5. as the described ultra-low frequency modal test suspension system of one of claim 1～4, it is characterized in that: described electromagnetic force control MPU, in order to the simulation electromagnetic spring, and realize that air pressure control to slow response compensates, the suspension gear center keeps.
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| CN103048009A (en) * | 2012-12-31 | 2013-04-17 | 浙江工业大学 | Horizontal drive ultralow-frequency modal test hoisting device |
| CN103063390A (en) * | 2012-12-31 | 2013-04-24 | 浙江工业大学 | Hoisting device of horizontal modality test |
| CN103063393A (en) * | 2012-12-31 | 2013-04-24 | 浙江工业大学 | Hanging device for horizontal modal test |
| CN106226665A (en) * | 2016-08-30 | 2016-12-14 | 武汉科迪奥电力科技有限公司 | High-voltage transmission line insulator distributed electric field detector and detecting system |
| CN106347718A (en) * | 2016-11-08 | 2017-01-25 | 中国科学院空间应用工程与技术中心 | Vibration isolation platform serving high-microgravity scientific experiments |
| CN108489696A (en) * | 2018-03-26 | 2018-09-04 | 东南大学 | A kind of method of spring additional stiffness in elimination frequency response function |
| CN110025922A (en) * | 2019-04-19 | 2019-07-19 | 中国航天员科研训练中心 | A kind of perseverance puller system |
| CN113511329A (en) * | 2021-05-12 | 2021-10-19 | 上海机电工程研究所 | Appearance gradual change formula horizontal whole separation radome fairing and aircraft |
| CN113697127A (en) * | 2021-08-10 | 2021-11-26 | 中国航天空气动力技术研究院 | Modal test supporting device and using method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103048009A (en) * | 2012-12-31 | 2013-04-17 | 浙江工业大学 | Horizontal drive ultralow-frequency modal test hoisting device |
| CN103063390A (en) * | 2012-12-31 | 2013-04-24 | 浙江工业大学 | Hoisting device of horizontal modality test |
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| CN108489696A (en) * | 2018-03-26 | 2018-09-04 | 东南大学 | A kind of method of spring additional stiffness in elimination frequency response function |
| CN110025922A (en) * | 2019-04-19 | 2019-07-19 | 中国航天员科研训练中心 | A kind of perseverance puller system |
| CN113511329A (en) * | 2021-05-12 | 2021-10-19 | 上海机电工程研究所 | Appearance gradual change formula horizontal whole separation radome fairing and aircraft |
| CN113697127A (en) * | 2021-08-10 | 2021-11-26 | 中国航天空气动力技术研究院 | Modal test supporting device and using method |
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