CN102141484A - Multi-functional portable electric servo control loading device and loading method thereof - Google Patents
Multi-functional portable electric servo control loading device and loading method thereof Download PDFInfo
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Abstract
The invention discloses a multi-functional portable electric servo control loading device and a loading method thereof. The loading device comprises a computer control system, a servo controller, a loading execution mechanism and a control quantity feedback and measurement sensor. The computer control system comprises a waveform generating device, a data acquisition device and relevant control programs. The servo controller is used for realizing force or shift control, and a control mode conversion device, a signal regulating device and a DC regulating device for applying a static load are integrated in the servo controller. The loading control mode conversion device is used for realizing the stable conversion of the control modes of the loading execution mechanism. The DC regulating device is used for realizing static loading. The signal regulating device is used for filtering and amplifying feedback and measured signals. The loading device has the advantages of simple structure, small size, light weight, low energy consumption and no noise, and is simple to operate and maintain. With the loading method, static loading, regular and irregular circulation loading, data graphic display and data acquisition record can be realized under force or shift servo control.
Description
Technical field
The present invention relates to a kind of portable multifunctional electrical servo control loaded device and loading method thereof, it can be used for the model test in building, water conservancy and the oceanographic engineering, and the static(al) of finishing under power or displacement control model test loads or rule and the loading of irregular low frequency cycle.Simultaneously, it also can be applied to the loading of test apparatuses such as quiet, moving three of geotechnique, quiet, moving simple shear.
Background technology
In building, water conservancy and oceanographic engineering, usually need to carry out dead load under power or the displacement control or the works mechanical characteristic model test under the cyclic load effect, charger and loading method thereof are the prerequisites of finishing model test.What generally use at present is electric or the electro-hydraulic servo control charger.There is complex structure in this class device, and is bulky, and power consumption is high, and noise is big, bearing accuracy and the not high deficiency of stability under servicing operations complexity and the displacement servocontrol pattern.Therefore it is necessary developing novel servocontrol charger and the loading method thereof that a kind of portable multifunctional has higher control accuracy.The electronic cylinder of being made up of roller bearing leading screw and servomotor provides possibility for developing such charger.Normally used electronic cylinder only can carry out dullness and load under speed or Torque Control pattern, the static(al) that can not carry out under power control or the displacement control loads or CYCLIC LOADING.
Summary of the invention
At above-mentioned prior art, the invention provides a kind of portable multifunctional electrical servo control loaded device and loading method thereof, charger controllability among the present invention is strong, simple in structure, lightweight and portable in volume, it is low to consume energy, noiselessness, Operation and Maintenance is simple, just can realize the graphic presentation and the acquisition and recording of static(al) loading, rule and irregular CYCLIC LOADING and data by adopting its corresponding loading method under power or displacement servocontrol.
In order to solve the problems of the technologies described above, the technical scheme that portable multifunctional electrical servo control loaded device of the present invention is achieved is: comprise computer control system, servo controller, load and execution mechanism, controlled quentity controlled variable feedback transducer and measuring amount sensor, described computer control system comprises waveshape generating device, data collector and the memory under program that is used to deposit control program, and described computer system (1) is used for sending steering order and acquisition and recording test figure to described servo controller; Described servo controller is used for realizable force control or displacement control, and described servo controller adopts PID control, is integrated with the control model conversion equipment in the described servo controller, is used to apply the DC adjustment device and the Signal Conditioning Equipment of dead load; Described control model conversion equipment is used to realize the stable conversion of described load and execution mechanism controls mode, and the control mode of described load and execution mechanism comprises that the power control of corresponding moment mode of operation and the displacement of corresponding speed mode of operation control; By regulating the parameter of control model conversion equipment, the mode of operation of itself and described load and execution mechanism is complementary; Described DC adjustment device is used to realize that the static(al) to workpiece loads; Described Signal Conditioning Equipment is used for feedback and measuring-signal are carried out filtering and amplification; Described load and execution mechanism is used for according to the servocontrol instruction workpiece being loaded, and described load and execution mechanism (3) is the electronic cylinder that is made of a servomotor and a ball screw framework, and determines suitable ball-screw helical pitch according to actual condition.
Portable multifunctional electrical servo control loaded method of the present invention, realize the servocontrol of any operating mode in following several situations is loaded: the static(al) loading under power or the displacement servocontrol, CYCLIC LOADING or both combinations load.Its step is as follows:
At first, control program is deposited in the memory under program of described computer system;
Then, start described computer working, the CPU executive control program, its process is as follows:
The Loading Control pattern is set;
Set the duration that load mode is static(al) loading or CYCLIC LOADING, load size and loading according to actual condition;
Default parameter in the computer control system is set;
The initial zero-bit of feedback and survey sensor is set;
Order start-up loading device by computer control system;
In the loading process, the feedback transducer signal gathered and other survey sensor signal gathered in real time with figure and monitor;
The test figure that test stops to gather the back is carried out playback, and with the test figure of readable mode storage of collected.
Furtherly: portable multifunctional electrical servo control loaded method of the present invention is:
After the energising,, the parameter of described computer control system, described servo controller and described control model conversion equipment is set, determines the Loading Control pattern according to predetermined mode of operation;
The duration of load mode, load size and loading is set by described computer control system;
Wherein:
Load for static(al), need to set the duration of loading and the size of load;
For regular CYCLIC LOADING, need to set the amplitude and the cycle index of cycle frequency, cyclic load;
For irregular CYCLIC LOADING, then need to be tuned in the outside Wave data that generates;
With reference to the feedback of estimating and the measurement range and the load mode of survey sensor, in described computer control system, default parameter is set, comprise the frequency acquisition of corresponding conversion coefficient of sensor and test figure;
The initial zero-bit of controlled quentity controlled variable and measuring amount sensor signal is set by described computer control system;
Order by described computer control system, the start-up loading device, at this moment, the order of described computer control system will send to described load and execution mechanism by described servo controller, electronic cylinder in the described load and execution mechanism loads according to the servocontrol order of described computer control system, the signal feedback of the described controlled quentity controlled variable feedback transducer in arbitrary moment to described servo controller carries out Signal Regulation and control, feedback quantity and measuring amount signal carry out data acquisition and real-time graph demonstration by described computer control system simultaneously, load thereby according to the computer control system instruction workpiece is finished servocontrol;
In case arrive the predetermined load time, described computer control system will be sent the control command that stops to load, described load and execution mechanism stops to load.
Compared with prior art, the beneficial effect of portable multifunctional electrical servo control loaded device of the present invention and loading method thereof is:
(1), can realize that the static(al) loading of electronic cylinder under power and displacement controlled condition, CYCLIC LOADING and both make up multiple loading conditions such as loading by with computer control system, servo controller and the combination of electronic cylinder;
(2) system operation is simple, regulates the transformation that gets final product realizable force control or displacement control mode by simple parameters;
(3) be furnished with Signal Conditioning Equipment, can either effectively improve control accuracy, also can carry out effective filtering and amplification, guarantee the accuracy of data the data-signal of gathering;
(4) loading method of the present invention is simple to operate, pass through computer control system, foundation has user-friendly operation interface, can be under prerequisite simply and easily, finish operation control, and can carry out real-time graph demonstration and monitoring and data acquisition, record and processing feedback and measurement data to the servocontrol loading system.
(5) electrical servo control loaded apparatus structure of the present invention is simple, do not need to dispose other servicing unit, for example: common necessary valve, gas circuit, oil piping system, source of the gas and hydraulic power source etc. in electrical servo charger and electro-hydraulic servo charger, there is not high pressure vessel in the charger of the present invention, the potential safety hazard that has existed when having avoided long-term the use.Because simple in structure, therefore, lightweight and portable in volume is easy to carry, and can be applicable to that shop experiment also can be applicable to site test.
(6) electrical servo control loaded device energy-wasting of the present invention is lower, has solved the big problem of electric, electric liquid mechanism noise, and environment is not produced noise pollution.
(7) electrical servo control loaded device of the present invention can effectively reduce maintenance cost, and load and execution mechanism works under complex environment only needs regular greasing lubricated.
Description of drawings
Fig. 1 electrical servo control loaded of the present invention apparatus structure block diagram;
The PID control principle synoptic diagram that servo controller adopts in Fig. 2 electrical servo control loaded of the present invention device.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in further detail.
As shown in Figure 1, portable multifunctional electrical servo control loaded device of the present invention comprise computer control system 1, servo controller 2, load and execution mechanism 3, controlled quentity controlled variable feedback quantity sensor 4 and with measuring amount sensor 5;
Described computer control system 1 comprises waveshape generating device, data collector and corresponding control programs, and described computer system 1 is used for sending steering order and acquisition and recording test figure to described servo controller 2;
Described servo controller 2 is used for realizable force or displacement control, and described servo controller 2 adopts PID control, and described servo controller 2 is integrated with the control model conversion equipment, is used to apply the DC adjustment device and the Signal Conditioning Equipment of dead load; Described control model conversion equipment is used to realize the stable conversion of described load and execution mechanism 3 control modes, be complementary with the mode of operation of load and execution mechanism 3 by regulating control model conversion and control parameter that (as: power is controlled corresponding moment mode of operation, displacement control corresponding speed mode of operation), just can finish the stable conversion of Loading Control mode; Described DC adjustment device is used to realize that the static(al) to workpiece loads; Described Signal Conditioning Equipment is used for feedback, measuring-signal are carried out filtering and amplification, reduces the influence of spatial interference to feedback, measuring-signal;
Described load and execution mechanism 3 is electronic cylinders that the ball screw framework by a servomotor and a specific helical pitch constitutes, and is used for according to the servocontrol instruction workpiece being loaded.
Servo controller 2 described in the present invention adopts PID control, and its basic control principle is seen Fig. 2.Among Fig. 2, r (t) is a set-point, and u (t) is the input of output and controlled device, y (t) is the real output value of system, set-point is kept to control deviation e (t)=r (t)-y (t) mutually with real output value, and formula (1) is the relation between u (t) and the e (t), just closed loop servo control law.
In the formula (1): K
p-scale-up factor; T
i-integral coefficient (integral time); T
d-differential coefficient (derivative time).
Proportional component K
pThe effect of * e (t) is that deviation moment is reacted.In a single day deviation produces, and controller produces control action immediately, and controlled quentity controlled variable is changed to the direction that reduces deviation.The power of control action depends on scale-up factor, and scale-up factor is big more, and control action is strong more, and then transient process is fast more, and the static deviation of control procedure is also just more little; Scale-up factor is crossed conference and is produced vibration, destroys the stability of system.For the electronic cylinder here, need appropriate selection percentage coefficient could guarantee the stable of system.
Integral element
Effect be to eliminate system deviation.Though integral element can be eliminated static error, also can reduce the response speed of system, increase the overshoot of system.Integration constant is big more, and the summation of integration is weak more, helps the vibration that the elimination system produces, and improves the stability of system.The elimination process of static error but the increase integration constant can slow down.Reduce with integration constant, integral action strengthens, and the elimination required time of deviation shortens.For the electronic cylinder system performance of the specified loading output of difference, must determine integration constant by concrete the adjustment, could obtain best servo-drive system characteristic.
The differential part
Effect be that variation tendency according to deviation provides suitable correction in advance, stops the variation of deviation.Deviation changes fast more, and the output of differential part is just big more, and can revise before deviate becomes greatly.Effect by the differential part can effectively reduce overshoot, overcomes vibration, and system is tended towards stability.The effect of differential part is determined by derivative time constant.Constant is big more, and the effect that suppresses the deviation variation is strong more.When using the PI link that desired effects can not be reached, can consider to add differentiation element.
Computer control system among the present invention is made up of hardware and control program.Hardware components comprises waveshape generating device and data collector; Control program partly utilizes VB and VC language development, and its effect is the whole servo loading system of control, can finish following task:
(1) conversion coefficient of controlled quentity controlled variable feedback and survey sensor is set;
(2) the test figure number that CYCLIC LOADING frequency and per second are gathered is set;
(3) the initial zero-bit of feeding back with survey sensor is set;
(4) set static(al) loading, rule and the mode of irregular CYCLIC LOADING and the duration of loading;
(5) by interactive command mode start-up loading device;
(6) in the loading process, the feedback transducer signal gathered and other survey sensor signal gathered in real time with figure and monitor;
(7) can carry out playback to the test figure that test stop to gather the back, and with the test figure of readable mode storage of collected, for further handling.
Servo controller 2 among the present invention is an organic whole with computer control system 1, cooperatively interacts, can finish multiple loading conditions such as static(al) loading, the CYCLIC LOADING under power or the displacement control and the cyclic load that superposes on static(al) loading basis.
Be to utilize portable multifunctional electrical servo control loaded device of the present invention to carry out the process that servocontrol loads below:
At first, the each several part in the whole device according to layout shown in Figure 1 or couple together, and is deposited in control program in the memory under program of described computer system.That is: as shown in Figure 1, servo controller 2 is connected with load and execution mechanism 3 with computer control system 1 respectively, described load and execution mechanism 3 adopts the electronic cylinder that is made of a servomotor and a ball screw framework, described electronic cylinder contacts with workpiece, measuring amount sensor 5 also all contacts with workpiece with controlled quentity controlled variable feedback transducer 4, to the device energising, starts described computer working, the CPU executive control program, its process is as follows:
Mode of operation according to predetermined is provided with the parameter of described computer control system 1, described servo controller 2 and the parameter of described control model conversion equipment, determines the Loading Control pattern;
Then, the duration by described computer control system is provided with load mode, load size and loads, load for static(al), the duration of loading and the size of load are set; For regular CYCLIC LOADING, the amplitude and the cycle index of cycle frequency, cyclic load is set; For irregular CYCLIC LOADING, need be tuned in the outside Wave data that generates.With reference to the feedback of estimating and the range and the load mode of survey sensor, the default parameter in the described computer control system 1 is set again, comprises the conversion coefficient of sensor and the frequency acquisition of test figure etc.Here need explanation to load, both can realize, also can realize by the loading command that described computer control system is set by regulating DC adjustment device integrated in the servo controller 2 for static(al); For the CYCLIC LOADING mode, then must realize by the loading command that described computer control system 1 is set;
By described computer control system 1 controlled quentity controlled variable of being gathered and the initial zero-bit of measuring amount sensor signal are set again;
Order by described computer control system 1, the start-up loading device, at this moment, the order of described computer control system 1 will send to described load and execution mechanism 3 by described servo controller 2, the electronic cylinder of described load and execution mechanism 3 loads according to the servocontrol order of described computer control system 1, the signal feedback of the described controlled quentity controlled variable feedback transducer 4 in arbitrary moment to described servo controller 2 carries out Signal Regulation and control, feedback quantity and measuring amount signal carry out data acquisition and real-time graph demonstration by described computer control system 1 simultaneously, load thereby according to the computer control system instruction workpiece is finished servocontrol;
In case arrive the predetermined load time, described computer control system 1 will be sent the control command that stops to load, described load and execution mechanism 3 stops to load.
Although top invention has been described in conjunction with figure; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment only is schematic; rather than it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; under the situation that does not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.
Claims (5)
1. a portable multifunctional electrical servo control loaded device comprises computer control system (1), servo controller (2), load and execution mechanism (3), controlled quentity controlled variable feedback transducer (4) and measuring amount sensor (5), it is characterized in that:
Described computer control system (1) comprises waveshape generating device, data collector and the memory under program that is used to deposit control program, and described computer system (1) is used for sending steering order and acquisition and recording test figure to described servo controller (2);
Described servo controller (2) is used for realizable force control or displacement control, described servo controller (2) adopts PID control, and described servo controller is integrated with the control model conversion equipment in (2), is used to apply the DC adjustment device and the Signal Conditioning Equipment of dead load;
Described control model conversion equipment is used to realize the stable conversion of described load and execution mechanism (3) control mode, and the control mode of described load and execution mechanism (3) comprises the power control of corresponding moment mode of operation and the displacement control of corresponding speed mode of operation; By regulating the parameter of control model conversion equipment, the mode of operation of itself and described load and execution mechanism (3) is complementary;
Described DC adjustment device is used to realize that the static(al) to workpiece loads;
Described Signal Conditioning Equipment is used for feedback and measuring-signal are carried out filtering and amplification;
Described load and execution mechanism (3) is used for according to the servocontrol instruction workpiece being loaded, and described load and execution mechanism (3) is the electronic cylinder that is made of a servomotor and a ball screw framework, and determines suitable ball-screw helical pitch according to actual condition.
2. according to the described portable multifunctional electrical servo of claim 1 control loaded device, it is characterized in that, comprise one or more dissimilar physical quantity transducers according to actual condition and the described measuring amount sensor of measurement requirement (5).
3. portable multifunctional electrical servo control loaded method, it is characterized in that utilize portable multifunctional electrical servo control loaded device as claimed in claim 1 to realize the servocontrol of any operating mode in following several situations is loaded: the static(al) loading under power or the displacement servocontrol, CYCLIC LOADING or both combinations load.
4. according to the described portable multifunctional electrical servo of claim 3 control loaded method, it is characterized in that, adopt the following step:
Control program is deposited in the memory under program of described computer system;
Start described computer working, the CPU executive control program, its process is as follows:
The Loading Control pattern is set;
Set the duration that load mode is static(al) loading or CYCLIC LOADING, load size and loading according to actual condition;
Default parameter in the computer control system is set;
The initial zero-bit of feedback and survey sensor is set;
Order start-up loading device by computer control system;
In the loading process, the feedback transducer signal gathered and other survey sensor signal gathered in real time with figure and monitor;
The test figure that test stops to gather the back is carried out playback, and with the test figure of readable mode storage of collected.
5. according to the described portable multifunctional electrical servo of claim 4 control loaded method, it is characterized in that,
After the energising,, the parameter of described computer control system (1), described servo controller (2) and described control model conversion equipment is set, determines the Loading Control pattern according to predetermined mode of operation;
The duration of load mode, load size and loading is set by described computer control system (1); Wherein:
Load for static(al), need to set the duration of loading and the size of load;
For regular CYCLIC LOADING, need to set the amplitude and the cycle index of cycle frequency, cyclic load;
For irregular CYCLIC LOADING, then need to be tuned in the outside Wave data that generates;
With reference to the feedback of estimating and the measurement range and the load mode of survey sensor, in described computer control system (1), default parameter is set, comprise the frequency acquisition of corresponding conversion coefficient of sensor and test figure;
The initial zero-bit of controlled quentity controlled variable and measuring amount sensor signal is set by described computer control system (1);
Order by described computer control system (1), the start-up loading device, at this moment, the order of described computer control system (1) will send to described load and execution mechanism (3) by described servo controller (2), electronic cylinder in the described load and execution mechanism (3) loads according to the servocontrol order of described computer control system (1), the signal feedback of the described controlled quentity controlled variable feedback transducer (4) in arbitrary moment to described servo controller (2) carries out Signal Regulation and control, feedback quantity and measuring amount signal carry out data acquisition and real-time graph demonstration by described computer control system (1) simultaneously, load thereby according to the computer control system instruction workpiece is finished servocontrol;
In case arrive the predetermined load time, described computer control system (1) will be sent the control command that stops to load, described load and execution mechanism (3) stops to load.
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| CN106094728A (en) * | 2016-06-28 | 2016-11-09 | 上海大学 | The kinetic control system of electromagnetic type plastic material high speed dynamic tensile machine and method |
| CN106370515A (en) * | 2016-10-20 | 2017-02-01 | 上海凯尔孚应力腐蚀试验设备有限公司 | Stress loading device with integrated control |
| CN110629812A (en) * | 2019-10-25 | 2019-12-31 | 中铁第四勘察设计院集团有限公司 | Loading test device and method for vertical dynamic and static loads of single pile |
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| CN105675205B (en) * | 2015-12-31 | 2019-06-18 | 西安航天动力试验技术研究所 | Vacuum thrust original position self-checking device |
| CN106094728A (en) * | 2016-06-28 | 2016-11-09 | 上海大学 | The kinetic control system of electromagnetic type plastic material high speed dynamic tensile machine and method |
| CN106094728B (en) * | 2016-06-28 | 2020-01-17 | 上海大学 | Motion control system and method of electromagnetic type plastic material high-speed dynamic stretching machine |
| CN106370515A (en) * | 2016-10-20 | 2017-02-01 | 上海凯尔孚应力腐蚀试验设备有限公司 | Stress loading device with integrated control |
| CN111085791A (en) * | 2018-10-24 | 2020-05-01 | 鞍钢广州汽车钢有限公司 | Optimization method for steel plate gap hydraulic servo control system of laser welding machine |
| CN110629812A (en) * | 2019-10-25 | 2019-12-31 | 中铁第四勘察设计院集团有限公司 | Loading test device and method for vertical dynamic and static loads of single pile |
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