CN102023031A - Angular impacting table control system - Google Patents
Angular impacting table control system Download PDFInfo
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- CN102023031A CN102023031A CN 201010559461 CN201010559461A CN102023031A CN 102023031 A CN102023031 A CN 102023031A CN 201010559461 CN201010559461 CN 201010559461 CN 201010559461 A CN201010559461 A CN 201010559461A CN 102023031 A CN102023031 A CN 102023031A
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Abstract
The invention belongs to the field of motion control and relates to an angular impacting table control system. The system comprises a master control system, a slave motion control system and a wave form control system. In the invention, different working modes are adopted according to different calibration requirements; the master control system and the slave motion control system are used for realizing the static calibration to a sensor; when the rotating angle of a main motion shaft of the angular impacting table is smaller than 360 degrees, a mode that the master control system and the wave form control system work and the slave control system does not work can be selected, otherwise, the master control system, the wave form control system and the slave control system work together to realize the dynamic calibration to the sensor; and during dynamic calibration, half-sine wave excitation, trapezoidal wave excitation or triangular wave excitation modes with different pulse widths and different amplitude values (angular displacement, angular velocity and angular acceleration) can be generated. Due to the adoption of wave form feedback control, the system has the advantages of good repeatability and high measurement accuracy.
Description
Technical field
The invention belongs to motion control field, relate to a kind of angle shock testing machine control system.
Background technology
The angular displacement sensor of vehicle impact testing test usefulness is used for measuring at collision process, the motion state of testing dummy's neck, and its motion process is one jiao of impact process; Gyro in the aircraft inertial navigation system is used for the angular velocity of three directions of survey aircraft, calculates the attitude of airplane motion; The angular acceleration transducer of using in the special device control system is directly measured the angular acceleration in the special device motion process, is used for the control to the special device motion state.When aircraft or special device are made motor-driven or prominent chance air flow and impacted, this process can be considered as the angle impact process.It is to produce big amplitude to change in extremely short time course that the angle is impacted.At present, the standard set-up that does not have to produce an angle shock wave is realized the dynamic calibration of diagonal motion sensor.
Summary of the invention
The objective of the invention is to propose the angle shock testing machine control system that a kind of energy diagonal angle ballistic motion mode is calibrated.Technical solution of the present invention is, this system comprises master control system, from kinetic control system and Waveform Control system three parts,
(1) main motion control system comprises main electric machine controller, main motor, grating, main motor controller controls master's motor rotation, waveform feedback standards sensor in main driven by motor grating and the waveform feedback control system rotates synchronously, the measuring-signal of grating feeds back to main electric machine controller, forms the closed-loop control of main motion control system;
(2) comprise from electric machine controller, from motor, scrambler from kinetic control system, receive the motion control signal that main electric machine controller sends from electric machine controller, control is carried out motion accompanying from kinetic control system, rotate from motor from motor controller controls, rotate synchronously from the driven by motor scrambler, the output signal of scrambler is sent into from electric machine controller, forms the closed-loop control from kinematic system;
(3) the waveform feedback control system comprises control computer, waveshape monitor, waveform feedback standards sensor, waveform feedback standards signal of sensor feeds back to the waveshape monitor in the waveform feedback control system, main electric machine controller is sent in the output of waveshape monitor, waveshape monitor resolves waveform feedback standards signal of sensor and the given desired value comparison of control computer by measurement, be converted into the control corresponding voltage signal, recomputate the control voltage signal of input, send into main electric machine controller, form the FEEDBACK CONTROL of moving wave shape.
Control computer control main motion control system motion or control in the described waveform feedback control system are moved from kinetic control system.
When carrying out at the uniform velocity angular motion and measure, this system comprises master control system, from kinetic control system two parts,
(1) main motion control system comprises main electric machine controller, main motor, grating, main motor controller controls master's motor rotation, main driven by motor grating rotates synchronously, and the measuring-signal of grating feeds back to main electric machine controller, forms the closed-loop control of main motion control system;
(2) comprise from electric machine controller, from motor, scrambler from kinetic control system, receive the motion control signal that main electric machine controller sends from electric machine controller, control is carried out motion accompanying from kinetic control system, rotate from motor from motor controller controls, rotate synchronously from the driven by motor scrambler, the output signal of scrambler is sent into from electric machine controller, forms the closed-loop control from kinematic system.
Taking measurement of an angle when spending less than 360, this system comprises master control system and Waveform Control system two parts,
(1) main motion control system comprises main electric machine controller, main motor, grating, main motor controller controls master's motor rotation, waveform feedback standards sensor in main driven by motor grating and the waveform feedback control system rotates synchronously, the measuring-signal of grating feeds back to main electric machine controller, forms the closed-loop control of main motion control system;
(2) the waveform feedback control system comprises control computer, waveshape monitor, waveform feedback standards sensor, waveform feedback standards signal of sensor feeds back to the waveshape monitor in the waveform feedback control system, main electric machine controller is sent in the output of waveshape monitor, waveshape monitor resolves waveform feedback standards signal of sensor and the given desired value comparison of control computer by measurement, be converted into the control corresponding voltage signal, recomputate the control voltage signal of input, send into main electric machine controller, form the FEEDBACK CONTROL of moving wave shape.
Described waveshape monitor resolves waveform feedback standards signal of sensor and the given desired value comparison of control computer by measurement, constantly calculate and revise the input control voltage signal, be controlled in the required scope survey record shape information that this moment, measuring system measured down up to feedback standards signal of sensor waveform and target value set waveform error.
Described waveform feedback standards signal of sensor can be the voltage signal relevant with angular displacement, the voltage signal of being correlated with angular velocity or the voltage signal relevant with angular acceleration.
Waveform feedback standards sensor can be angular displacement sensor, angular-rate sensor, angular acceleration transducer or linear acceleration transducer.
Advantage that the present invention has and beneficial effect, the present invention adopts different working methods according to different calibration requirements.By master control system, from kinetic control system two part work, realize static calibration to sensor; The angle that turns over when angle shock testing machine main movement shaft is during smaller or equal to 360 °, can select master control system and Waveform Control system works, from control system working method not, otherwise, master control system and Waveform Control system reach from control system work, realize the dynamic calibration to sensor.When dynamic calibration, can produce half-sine wave excitation, trapezoidal wave excitation or the triangular wave energisation mode of distinct pulse widths, difference (angular displacement, angular velocity, angular acceleration) amplitude, owing to adopted the waveform FEEDBACK CONTROL, system's good reproducibility, accuracy of measurement height.
The present invention can realize the static state of diagonal motion sensor or the function of dynamic calibration on same device.Especially dynamic calibration function is for the angular motion sensor The Characteristic Study provides new ways and means.
Description of drawings
Fig. 1 kinetic control system block diagram.
Embodiment
The invention provides a kind of multiple movement control mode, its control system comprises, master control system, from kinetic control system and Waveform Control system three parts,
(1) main motion control system comprises main electric machine controller, main motor, grating, main motor controller controls master's motor rotation, waveform feedback standards sensor in main driven by motor grating and the waveform feedback control system rotates synchronously, the measuring-signal of grating feeds back to main electric machine controller, forms the closed-loop control of main motion control system;
(2) comprise from electric machine controller, from motor, scrambler from kinetic control system, receive the motion control signal that main electric machine controller sends from electric machine controller, control is carried out motion accompanying from kinetic control system, rotate from motor from motor controller controls, rotate synchronously from the driven by motor scrambler, the output signal of scrambler is sent into from electric machine controller, forms the closed-loop control from kinematic system;
(3) the waveform feedback control system comprises control computer, waveshape monitor, waveform feedback standards sensor, waveform feedback standards signal of sensor feeds back to the waveshape monitor in the waveform feedback control system, main electric machine controller is sent in the output of waveshape monitor, waveshape monitor (the model of waveshape monitor: Vib Runner, manufacturer Germany M+P company) resolves waveform feedback standards signal of sensor and the given desired value comparison of control computer by measurement, be converted into the control corresponding voltage signal, recomputate the control voltage signal of input, send into main electric machine controller, form the FEEDBACK CONTROL of moving wave shape.
Control computer control main motion control system motion or control in the described waveform feedback control system are moved from kinetic control system.
When carrying out at the uniform velocity angular motion and measure, this system comprises master control system, from kinetic control system two parts,
(1) main motion control system comprises main electric machine controller, main motor, grating, main motor controller controls master's motor rotation, main driven by motor grating rotates synchronously, and the measuring-signal of grating feeds back to main electric machine controller, forms the closed-loop control of main motion control system;
(2) comprise from electric machine controller, from motor, scrambler from kinetic control system, receive the motion control signal that main electric machine controller sends from electric machine controller, control is carried out motion accompanying from kinetic control system, rotate from motor from motor controller controls, rotate synchronously from the driven by motor scrambler, the output signal of scrambler is sent into from electric machine controller, forms the closed-loop control from kinematic system.
Taking measurement of an angle when spending less than 360, this system comprises master control system and Waveform Control system two parts,
(1) main motion control system comprises main electric machine controller, main motor, grating, main motor controller controls master's motor rotation, waveform feedback standards sensor in main driven by motor grating and the waveform feedback control system rotates synchronously, the measuring-signal of grating feeds back to main electric machine controller, forms the closed-loop control of main motion control system;
(2) the waveform feedback control system comprises control computer, waveshape monitor, waveform feedback standards sensor, waveform feedback standards signal of sensor feeds back to the waveshape monitor in the waveform feedback control system, main electric machine controller is sent in the output of waveshape monitor, waveshape monitor resolves waveform feedback standards signal of sensor and the given desired value comparison of control computer by measurement, be converted into the control corresponding voltage signal, recomputate the control voltage signal of input, send into main electric machine controller, form the FEEDBACK CONTROL of moving wave shape.
Described waveshape monitor resolves waveform feedback standards signal of sensor and the given desired value comparison of control computer by measurement, constantly calculate and revise the input control voltage signal, be controlled in the required scope survey record shape information that this moment, measuring system measured down up to feedback standards signal of sensor waveform and target value set waveform error.
Described waveform feedback standards signal of sensor can be the voltage signal relevant with angular displacement, the voltage signal of being correlated with angular velocity or the voltage signal relevant with angular acceleration.
Waveform feedback standards sensor can be angular displacement sensor, angular-rate sensor, angular acceleration transducer or linear acceleration transducer.
The main movement shaft motion of main motor controller controls master's motor driving apparatus, be installed in the different motion angle information constantly of angle measurement grating measuring main movement shaft on the main movement shaft, feed back to master controller, the signal that provides with waveshape monitor compares, and forms the close-loop feedback control of main motion.
Control from motor from the control controller, driving arrangement from kinematic axis motion, the scrambler that is installed in from the kinematic axis is measured from the different angle informations constantly of kinematic axis, feeds back to slave controller, the instruction of issuing it with master controller compares, and forms the close-loop feedback control from motion.
Angle measurement grid stroke number on the main movement shaft is M line/week, and the line number of the scrambler from the kinematic axis is N line/week, turns over identical angle for guaranteeing master and slave axle in the unit interval, and the scale-up factor that master and slave control is set is (M/N): 1.
The echo signal that waveshape monitor provides according to computing machine, different amplitudes and different pulsewidths are converted into the control corresponding voltage control signal, give main electric machine controller drive shaft motion; The waveform feedback standards sensor (according to being selected corresponding angular, angular velocity and angular acceleration transducer as waveform feedback standards sensor by the school sensor type) that is installed on the table top feeds back to waveshape monitor with measured waveform, the instruction that provides with computing machine compares, calculates the control corresponding voltage signal, realizes the close-loop feedback control of Waveform Control.
Claims (7)
1. angle shock testing machine control system is characterized in that: this system comprises master control system, from kinetic control system and Waveform Control system three parts,
(1) main motion control system comprises main electric machine controller, main motor, grating, main motor controller controls master's motor rotation, waveform feedback standards sensor in main driven by motor grating and the waveform feedback control system rotates synchronously, the measuring-signal of grating feeds back to main electric machine controller, forms the closed-loop control of main motion control system;
(2) comprise from electric machine controller, from motor, scrambler from kinetic control system, receive the motion control signal that main electric machine controller sends from electric machine controller, control is carried out motion accompanying from kinetic control system, rotate from motor from motor controller controls, rotate synchronously from the driven by motor scrambler, the output signal of scrambler is sent into from electric machine controller, forms the closed-loop control from kinematic system;
(3) the waveform feedback control system comprises control computer, waveshape monitor, waveform feedback standards sensor, waveform feedback standards signal of sensor feeds back to the waveshape monitor in the waveform feedback control system, main electric machine controller is sent in the output of waveshape monitor, waveshape monitor resolves waveform feedback standards signal of sensor and the given desired value comparison of control computer by measurement, be converted into the control corresponding voltage signal, recomputate the control voltage signal of input, send into main electric machine controller, form the FEEDBACK CONTROL of moving wave shape.
2. require described angle shock testing machine control system according to right 1, it is characterized in that: control computer control main motion control system motion or control in the described waveform feedback control system are moved from kinetic control system.
3. require described angle shock testing machine control system according to right 1, it is characterized in that: when carrying out at the uniform velocity angular motion and measure, this system comprises master control system, from kinetic control system two parts,
(1) main motion control system comprises main electric machine controller, main motor, grating, main motor controller controls master's motor rotation, main driven by motor grating rotates synchronously, and the measuring-signal of grating feeds back to main electric machine controller, forms the closed-loop control of main motion control system;
(2) comprise from electric machine controller, from motor, scrambler from kinetic control system, receive the motion control signal that main electric machine controller sends from electric machine controller, control is carried out motion accompanying from kinetic control system, rotate from motor from motor controller controls, rotate synchronously from the driven by motor scrambler, the output signal of scrambler is sent into from electric machine controller, forms the closed-loop control from kinematic system.
4. require described angle shock testing machine control system according to right 1, it is characterized in that: taking measurement of an angle when spending less than 360, this system comprises master control system and Waveform Control system two parts,
(1) main motion control system comprises main electric machine controller, main motor, grating, main motor controller controls master's motor rotation, waveform feedback standards sensor in main driven by motor grating and the waveform feedback control system rotates synchronously, the measuring-signal of grating feeds back to main electric machine controller, forms the closed-loop control of main motion control system;
(2) the waveform feedback control system comprises control computer, waveshape monitor, waveform feedback standards sensor, waveform feedback standards signal of sensor feeds back to the waveshape monitor in the waveform feedback control system, main electric machine controller is sent in the output of waveshape monitor, waveshape monitor resolves waveform feedback standards signal of sensor and the given desired value comparison of control computer by measurement, be converted into the control corresponding voltage signal, recomputate the control voltage signal of input, send into main electric machine controller, form the FEEDBACK CONTROL of moving wave shape.
5. require described angle shock testing machine control system according to right 1,2 or 4, it is characterized in that: described waveshape monitor resolves waveform feedback standards signal of sensor and the given desired value comparison of control computer by measurement, constantly calculate and revise the input control voltage signal, be controlled in the required scope survey record shape information that this moment, measuring system measured down up to feedback standards signal of sensor waveform and target value set waveform error.
6. require described angle shock testing machine control system according to right 1,2 or 4, it is characterized in that: described waveform feedback standards signal of sensor can be the voltage signal relevant with angular displacement, the voltage signal of being correlated with angular velocity or the voltage signal relevant with angular acceleration.
7. require described angle shock testing machine control system according to right 1,2 or 4, it is characterized in that: waveform feedback standards sensor can be angular displacement sensor, angular-rate sensor, angular acceleration transducer or linear acceleration transducer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010559461 CN102023031A (en) | 2010-11-26 | 2010-11-26 | Angular impacting table control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010559461 CN102023031A (en) | 2010-11-26 | 2010-11-26 | Angular impacting table control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108469849A (en) * | 2017-12-15 | 2018-08-31 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of random angular oscillation control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5341702A (en) * | 1991-09-10 | 1994-08-30 | Renishaw Transducer Systems Limited | Apparatus for calibration of an angular displacement |
| CN1851469A (en) * | 2006-06-12 | 2006-10-25 | 中国航空工业第一集团公司北京长城计量测试技术研究所 | Low-rotation-speed measurement calibrator and calibration method |
| CN101173878A (en) * | 2007-11-27 | 2008-05-07 | 上海西派埃自动化仪表工程有限责任公司 | Static and dynamic acceleration testing device |
| CN101603876A (en) * | 2009-06-30 | 2009-12-16 | 浙江工业大学 | Vibration waveform controlling system of electro-hydraulic exciter |
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2010
- 2010-11-26 CN CN 201010559461 patent/CN102023031A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5341702A (en) * | 1991-09-10 | 1994-08-30 | Renishaw Transducer Systems Limited | Apparatus for calibration of an angular displacement |
| CN1851469A (en) * | 2006-06-12 | 2006-10-25 | 中国航空工业第一集团公司北京长城计量测试技术研究所 | Low-rotation-speed measurement calibrator and calibration method |
| CN101173878A (en) * | 2007-11-27 | 2008-05-07 | 上海西派埃自动化仪表工程有限责任公司 | Static and dynamic acceleration testing device |
| CN101603876A (en) * | 2009-06-30 | 2009-12-16 | 浙江工业大学 | Vibration waveform controlling system of electro-hydraulic exciter |
Non-Patent Citations (1)
| Title |
|---|
| 《Proceedings of the SPIE - The International Society for Optical Engineering》 20081231 Jun Peng Development of a primary angular shock calibration system 第70981M-1至70981M-7页 1-7 第7098卷, 2 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108469849A (en) * | 2017-12-15 | 2018-08-31 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of random angular oscillation control method |
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Application publication date: 20110420 |