CN103410809A - System and method for testing hydraulic cylinder Stribeck model friction parameters - Google Patents
System and method for testing hydraulic cylinder Stribeck model friction parameters Download PDFInfo
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Abstract
The invention discloses a system and a method for testing hydraulic cylinder Stribeck model friction parameters. The system comprises a proportional pressure relief valve, a flow servo valve, an electromagnetic reversing valve, an energy accumulator, a pressure sensor with a rod chamber, a pressure sensor without a rod chamber, a tested hydraulic cylinder, a hydraulic pump station, a hydraulic controller and a data collection device, the tested hydraulic cylinder is provided with a displacement sensor used for detecting the position of a piston rod of the tested hydraulic cylinder in real time, and data analysis software is arranged in the data collection device and can perform surface fitting data processing on collected data and recognize and analyze the data to acquire test values of the hydraulic cylinder Stribeck model friction parameters.
Description
Technical field
The invention belongs to the Hydraulic Test Technique field, be specifically related to a kind of test system and test method of oil hydraulic cylinder Stribeck model friction parameter.
Background technique
Along with the raising to the servo-hydraulic control required precision, the frictional force of oil hydraulic cylinder has become a major issue of can not ignore.The non-linear friction power of oil hydraulic cylinder has a great impact the quiet dynamic characteristic of system, the wave distortion phenomenon the when creeping phenomenon when main manifestations is low speed, speed zero passage, produce static dead band and dynamically dead band, even limit cycles oscillations phenomenon etc. appears.In order better to describe the frictional force of oil hydraulic cylinder, be necessary to study oil hydraulic cylinder frictional force is carried out to accurately test identification friction parameter.
Classical coulomb friction+the viscous friction of traditional employing can not reflect the dynamic process of friction phenomenon really as the mode of friction model, in the engineering application, usually adopts the Stribeck friction model to describe the situation of change of oil hydraulic cylinder from static to each state frictional force of motion.Formula (1) is the mathematic(al) representation of Stribeck model, and in formula, F is oil hydraulic cylinder frictional force, and v is the relative velocity between piston and cylinder body, p
AFor oil hydraulic cylinder rodless cavity pressure, p
BFor oil hydraulic cylinder rod chamber pressure; Coulomb friction force coefficient f
c, the maximum static friction force COEFFICIENT K
b, critical coefficient c
v, viscous friction force coefficient f
v, impacting force F
PrBe 5 friction parameters.
From the mathematic(al) representation of Stribeck model, drawing, the speed of related movement v between the size of oil hydraulic cylinder frictional force and piston and cylinder body, oil hydraulic cylinder two cavity oil are pressed p
A, p
BRelevant.In order in fields such as design of Simulation, servocontrol compensation, to apply this model, just need, by measuring the frictional force F of oil hydraulic cylinder under different conditions, to analyze and pick out 5 friction parameter f in model
c, f
v, K
b, c
v, F
PrMeasured value.
The current problem that mainly has following several aspects about test system and the test method of oil hydraulic cylinder frictional force:
1, the test method that relates at present oil hydraulic cylinder frictional force in NBS only has " GB/T15622-2005 hydraulic cylinder test method ".The method has the mode of two kinds of testing friction power, and the first is to adopt two oil hydraulic cylinder levels to load the mode on top, by detecting the pressure in loading hydraulic cylinder and tested hydraulic cylinder two chambeies, calculates the frictional force of tested hydraulic cylinder.The test result of the method has comprised the frictional force of loading hydraulic cylinder, and the test result precision is influenced.The second is to adopt the mode of weight simulation loading to load, and by detecting the pressure in tested hydraulic cylinder two chambeies, calculates the frictional force of tested hydraulic cylinder.The test result of the method has comprised the acceleration inertial force that adds loads, and along with the motion of tested hydraulic cylinder, weight is applied to the loading force of tested hydraulic cylinder changing, and affects test result.This standard has only provided the test method of two kinds of oil hydraulic cylinder frictional force in addition, parameter formation and the identification of frictional force is not described.
2, about patent of invention " a kind of test system of servo hydraulic cylinder idle load start-up friction force and the test method " (publication number: be CN101441122) in the oil hydraulic cylinder one stress-free situation in chamber of test fluid cylinder pressure frictional force, the monolateral minimum starting friction power in another chamber of oil hydraulic cylinder is tested, just a kind of test operating mode of frictional force, (publication number: CN101451893) adopt by between tested liquid cylinder pressure and closed frame, forming seal force is the test that realizes oil hydraulic cylinder frictional force to patent of invention " a kind of test system of hydraulic cylinder with loading friction force characteristic and test method ", the back pressure cavity of oil hydraulic cylinder directly takes back fuel tank, the deformation force that loads frame by change changes the initiatively pressure in chamber of oil hydraulic cylinder, this method can only the monolateral pressure of test fluid cylinder pressure variation on the impact of oil hydraulic cylinder frictional force, above patent has only proposed a kind of test method to oil hydraulic cylinder frictional force simultaneously, and the pressure that can not change simultaneously oil hydraulic cylinder two chambeies carrys out the frictional force of test fluid cylinder pressure, be not suitable for parameter formation and the identification of oil hydraulic cylinder frictional force are tested.
3, patent of invention " dynamic friction parameter test system and test method " (publication number: CN101226068), patent of invention " integral measurement method of servo turntable LuGre model friction parameter and rotary inertia " (publication number: be CN102269638) all to provide a kind of testing apparatus and test method for the mechanical friction between material for test, and carry out measurement and the identification analysis of friction parameter.These testing apparatuss and test method are not suitable for the test analysis of the parameter of oil hydraulic cylinder frictional force.
Summary of the invention
In view of this, the objective of the invention is for the deficiencies in the prior art, a kind of test system and test method of oil hydraulic cylinder Stribeck model friction parameter is provided; This test system and test method can conveniently be obtained the frictional force of oil hydraulic cylinder under different operating pressure and movement velocity, and utilize the data acquisition unit analysis to draw oil hydraulic cylinder friction parameter f
c, f
v, K
b, c
v, F
PrMeasured value.
The objective of the invention is to be achieved through the following technical solutions:
A kind of test system of oil hydraulic cylinder Stribeck model friction parameter, comprise ratio decompression relief valve, serving volume valve, solenoid directional control valve, tested liquid cylinder pressure, hydraulic power unit, hydraulic controller and data acquisition unit;
The P mouth of described ratio decompression relief valve and serving volume valve communicates with the T mouth with the P mouth of hydraulic power unit respectively with the T mouth, and the Y mouth of described ratio decompression relief valve communicates with the L mouth of hydraulic power unit;
The A mouth of described serving volume valve communicates with the rodless cavity of tested liquid cylinder pressure, the B mouth sealing of described serving volume valve;
The P mouth of described solenoid directional control valve communicates with the A mouth of ratio decompression relief valve, and the T mouth of described solenoid directional control valve communicates with the T mouth of hydraulic power unit, and the A mouth of described solenoid directional control valve communicates with the rod chamber of tested liquid cylinder pressure, the B mouth sealing of described solenoid directional control valve;
On the A mouth of described solenoid directional control valve and pipeline that the rod chamber of tested liquid cylinder pressure communicates, be provided with the rod chamber pressure transducer and for the accumulator of dynamic compensation ratio decompression relief valve pressure surge;
On the A mouth of described serving volume valve and pipeline that the rodless cavity of tested liquid cylinder pressure communicates, be provided with the rodless cavity pressure transducer;
Described tested liquid cylinder pressure is provided with for detecting in real time the displacement transducer of tested hydraulic cylinder piston rod position, and described displacement transducer is transferred to hydraulic controller by displacement signal;
Described rod chamber pressure transducer and rodless cavity pressure transducer are transferred to hydraulic controller by pressure signal;
Described hydraulic controller is exported to ratio decompression relief valve and serving volume valve by control command;
Described hydraulic controller is provided with the data acquisition unit of DAS in the pressure data in tested liquid cylinder pressure two chambeies and piston rod real time position data are transferred to.
Further, the main flow of described DAS is:
(1) DAS, from the frictional force data of every section uniform motion of extracting data oil hydraulic cylinder of collection, comprises frictional force F, oil hydraulic cylinder two cavity pressure sum (p
A+ p
B), oil hydraulic cylinder uniform motion speed v;
(2) frictional force data of extracting is divided into groups according to the oil hydraulic cylinder back pressure, and every group of frictional force data arranged from small to large according to uniform motion speed;
(3) frictional force data of extraction is treated to oil hydraulic cylinder uniform motion speed v and oil hydraulic cylinder two cavity pressure sum (p
A+ p
B) be independent variable x and y, oil hydraulic cylinder frictional force F is dependent variable F (x, y), draws x, y, F(x, y) three-dimensional curve;
(4) given fitting formula f (x, y)=(a+by) (1+ (c-1) exp (dx))+ex, wherein a, b, c, d, e are unknown fitting parameter;
(5) estimate the span of a, b, c, d, e, to the x drawn, y, F(x, y) three-dimensional curve according to given fitting formula and span, carry out the method for least squares surface fitting, thereby obtain the match value of fitting parameter a, b, c, d, e.
The invention also discloses the test method that a kind of test system that utilizes described oil hydraulic cylinder Stribeck model friction parameter is tested, comprise the following steps:
(1), hydraulic system, control system, data acquistion system carry out test and prepare, the hydraulic power unit delivery pressure is normal, accumulator has filled nitrogen;
(2), hydraulic controller is to ratio decompression relief valve output order, sets tested liquid cylinder pressure back of the body cavity pressure, the rod chamber pressure transducer of tested liquid cylinder pressure detects constant pressure;
(3), hydraulic controller open loop slope output flow servovalve forward open order, the piston rod of tested liquid cylinder pressure starts and at the uniform velocity stretches out;
(4), after the piston rod of tested liquid cylinder pressure reaches each position, serving volume valve provides the negative sense instruction, tested hydraulic cylinder piston rod is retracted;
(5), hydraulic controller output augmented flow servovalve forward open order, the piston rod speed of stretching out of tested liquid cylinder pressure is greater than stretched out speed last time;
(6), data acquisition unit Real-time Collection store two cavity pressure signals of tested liquid cylinder pressure and the signal of displacement transducer;
(7), repeating step (4) and (5), can obtain under identical rod chamber back pressure the frictional force under the different uniform motion of tested liquid cylinder pressure.
(8), repeating step (2)～(7), can obtain the friction value under different two cavity pressures of tested liquid cylinder pressure and different uniform motion speed.
(9), by data acquisition unit, the pressure in the frictional force that gathers storage, speed, tested liquid cylinder pressure two chambeies is carried out to the off-line data surface fitting, obtain tested liquid cylinder pressure Stribeck model friction parameter f
c, f
v, K
b, c
v, F
PrMeasured value.
The invention has the beneficial effects as follows:
1, the present invention adopts the mode of hydraulic proportional decompression relief valve and accumulator to control the Pressure in Back-pressure Cavity of tested liquid cylinder pressure, and the Pressure in Back-pressure Cavity of oil hydraulic cylinder can step-less adjustment, and Pressure in Back-pressure Cavity keeps constant substantially in the hydraulic cylinder process;
2, the frictional force due to oil hydraulic cylinder is relevant to two cavity pressures of oil hydraulic cylinder, by changing the pressure in two chambeies, can measure the frictional force of hydraulic cylinder sealing under different pressured states;
3, the mode that adopts back pressure to load, overcome the impact of introducing other load maintainer frictional force, makes that the frictional force measured is truer, precision is higher;
4, by the oil hydraulic cylinder two cavity pressure values of data acquisition unit real-time storage, the shift value of hydraulic cylinder piston rod, by built-in offline simulation algorithm, identification obtains 5 friction parameter measured values of the Stribeck model of oil hydraulic cylinder frictional force.
Other advantages of the present invention, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on to investigating hereinafter, will being apparent to those skilled in the art, or can be instructed from the practice of the present invention.Target of the present invention and other advantages can realize and obtain by following specification.
The accompanying drawing explanation
In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing, wherein:
Fig. 1 is structural representation of the present invention.
Embodiment
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.Should be appreciated that preferred embodiment is only for the present invention is described, rather than in order to limit the scope of the invention.
As shown in the figure, a kind of test system of oil hydraulic cylinder Stribeck model friction parameter, comprise ratio decompression relief valve 1, serving volume valve 2, solenoid directional control valve 3, tested liquid cylinder pressure 8, hydraulic power unit 9, hydraulic controller 10 and data acquisition unit 11;
The P mouth of described ratio decompression relief valve 1 and serving volume valve 2 communicates with the T mouth with the P mouth of hydraulic power unit 9 respectively with the T mouth, and the Y mouth of described ratio decompression relief valve 1 communicates with the L mouth of hydraulic power unit 9;
The A mouth of described serving volume valve 2 communicates with the rodless cavity of tested liquid cylinder pressure 8, the B mouth sealing of described serving volume valve 2;
The P mouth of described solenoid directional control valve 3 communicates with the A mouth of ratio decompression relief valve 1, the T mouth of described solenoid directional control valve 3 communicates with the T mouth of hydraulic power unit 9, the A mouth of described solenoid directional control valve 3 communicates with the rod chamber of tested liquid cylinder pressure 8, the B mouth sealing of described solenoid directional control valve 3;
On the A mouth of described solenoid directional control valve 3 and pipeline that the rod chamber of tested liquid cylinder pressure 8 communicates, be provided with rod chamber pressure transducer 5 and for the accumulator 4 of dynamic compensation ratio decompression relief valve 1 pressure surge;
On the A mouth of described serving volume valve 2 and pipeline that the rodless cavity of tested liquid cylinder pressure 8 communicates, be provided with rodless cavity pressure transducer 6;
Described tested liquid cylinder pressure 8 is provided with for detecting in real time the displacement transducer 7 of tested liquid cylinder pressure 8 piston rod position, and described displacement transducer 7 is transferred to hydraulic controller 10 by displacement signal;
Described rod chamber pressure transducer 5 and rodless cavity pressure transducer 6 are transferred to hydraulic controller 10 by pressure signal;
Described hydraulic controller 10 is exported to ratio decompression relief valve 1 and serving volume valve 2 by control command;
Described hydraulic controller 10 is provided with the data acquisition unit 11 of DAS in the pressure data in 8 liang of chambeies of tested liquid cylinder pressure and piston rod real time position data are transferred to.
In the present embodiment, described ratio decompression relief valve 1 is be used to controlling the rod chamber counterpressure of tested liquid cylinder pressure 8; Described serving volume valve 2 is be used to the movement velocity of the piston rod of controlling tested liquid cylinder pressure 8; Described solenoid directional control valve 3 for tested liquid cylinder pressure 8 rod chamber pressure are let out fully except the time measure the minimum friction of tested liquid cylinder pressure; Described accumulator 4 makes tested liquid cylinder pressure 8 keep constant in movement process rod chamber back pressure for the pressure surge of dynamic compensation ratio decompression relief valve 1.
Further, the main flow of described DAS is:
(1) DAS, from the frictional force data of every section uniform motion of extracting data oil hydraulic cylinder of collection, comprises frictional force F, oil hydraulic cylinder two cavity pressure sum (p
A+ p
B), oil hydraulic cylinder uniform motion speed v;
(2) frictional force data of extracting is divided into groups according to the oil hydraulic cylinder back pressure, and every group of frictional force data arranged from small to large according to uniform motion speed;
(3) frictional force data of extraction is treated to oil hydraulic cylinder uniform motion speed v and oil hydraulic cylinder two cavity pressure sum (p
A+ p
B) be independent variable x and y, oil hydraulic cylinder frictional force F is dependent variable F (x, y), draws x, y, F(x, y) three-dimensional curve;
(4) given fitting formula f (x, y)=(a+by) (1+ (c-1) exp (dx))+ex, wherein a, b, c, d, e are unknown fitting parameter;
(5) estimate the span of a, b, c, d, e, to the x drawn, y, F(x, y) three-dimensional curve according to given fitting formula and span, carry out the method for least squares surface fitting, thereby obtain the match value of fitting parameter a, b, c, d, e.
The test method of utilizing the test system of described oil hydraulic cylinder Stribeck model friction parameter to test in the present embodiment comprises the following steps:
(1), hydraulic system, control system, data acquistion system carry out test and prepare, hydraulic power unit 9 delivery pressures are normal, accumulator 4 has filled nitrogen;
(2), hydraulic controller 10 is to ratio decompression relief valve 1 output order, sets tested liquid cylinder pressure back of the body cavity pressure, the rod chamber pressure transducer 5 of tested liquid cylinder pressure 8 detects constant pressure;
(3), hydraulic controller 10 open loop slope output flow servovalve 2 forward open orders, the piston rod of tested liquid cylinder pressure 8 starts and at the uniform velocity stretches out;
(4), after the piston rod of tested liquid cylinder pressure 8 reaches each position, serving volume valve 2 provides the negative sense instruction, tested hydraulic cylinder piston rod is retracted;
(5), hydraulic controller 10 output augmented flow servovalve 2 forward open orders, the piston rod speed of stretching out of tested liquid cylinder pressure 8 is greater than stretched out speed last time;
(6), data acquisition unit 11 Real-time Collections store two cavity pressure signals of tested liquid cylinder pressure 8 and the signal of displacement transducer 7;
(7), repeating step (4) and (5), can obtain under identical rod chamber back pressure the frictional force under the different uniform motion of tested liquid cylinder pressure.
(8), repeating step (2)～(7), can obtain the friction value under different two cavity pressures of tested liquid cylinder pressure and different uniform motion speed.
(9), by 11 pairs of data acquisition units gather frictional force, the speed of storage, the pressure in tested liquid cylinder pressure two chambeies carries out the off-line data surface fitting, obtains tested liquid cylinder pressure Stribeck model friction parameter f
c, f
v, K
b, c
v, F
PrMeasured value.
In the present embodiment, oil hydraulic cylinder frictional force F=(Pa-Pb when the hydraulic cylinder piston rod uniform motion) * S, p in formula
AFor oil hydraulic cylinder rodless cavity pressure, p
BFor oil hydraulic cylinder rod chamber pressure, S is the oil hydraulic cylinder cross-section area; p
A, p
BCan obtain by pressure transducer, S is the oil hydraulic cylinder cross-section area, and the relative velocity v between piston and cylinder body can obtain by displacement transducer; Therefore by measuring many group F, p
A, p
B, v numerical value, according to formula (1) (the scape technology of passing away), utilize DAS can analyze friction parameter f
c, f
v, K
b, c
v, F
PrMeasured value.
Finally explanation is, above embodiment is only unrestricted in order to technological scheme of the present invention to be described, although with reference to preferred embodiment, the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technological scheme of the present invention, and not breaking away from aim and the scope of the technical program, it all should be encompassed in the middle of claim scope of the present invention.
Claims (3)
1. the test system of oil hydraulic cylinder Stribeck model friction parameter, is characterized in that: comprise ratio decompression relief valve (1), serving volume valve (2), solenoid directional control valve (3), tested liquid cylinder pressure (8), hydraulic power unit (9), hydraulic controller (10) and data acquisition unit (11);
The P mouth of described ratio decompression relief valve (1) and serving volume valve (2) communicates with the T mouth with the P mouth of hydraulic power unit (9) respectively with the T mouth, and the Y mouth of described ratio decompression relief valve (1) communicates with the L mouth of hydraulic power unit (9);
The A mouth of described serving volume valve (2) communicates with the rodless cavity of tested liquid cylinder pressure (8), the B mouth sealing of described serving volume valve (2);
The P mouth of described solenoid directional control valve (3) communicates with the A mouth of ratio decompression relief valve (1), the T mouth of described solenoid directional control valve (3) communicates with the T mouth of hydraulic power unit (9), the A mouth of described solenoid directional control valve (3) communicates with the rod chamber of tested liquid cylinder pressure (8), the B mouth sealing of described solenoid directional control valve (3);
On the A mouth of described solenoid directional control valve (3) and pipeline that the rod chamber of tested liquid cylinder pressure (8) communicates, be provided with rod chamber pressure transducer (5) and for the accumulator (4) of dynamic compensation ratio decompression relief valve (1) pressure surge;
On the A mouth of described serving volume valve (2) and pipeline that the rodless cavity of tested liquid cylinder pressure (8) communicates, be provided with rodless cavity pressure transducer (6);
Described tested liquid cylinder pressure (8) is provided with for detecting in real time the displacement transducer (7) of tested liquid cylinder pressure (8) piston rod position, and described displacement transducer (7) is transferred to hydraulic controller (10) by displacement signal;
Described rod chamber pressure transducer (5) and rodless cavity pressure transducer (6) are transferred to hydraulic controller (10) by pressure signal;
Described hydraulic controller (10) is exported to ratio decompression relief valve (1) and serving volume valve (2) by control command;
Described hydraulic controller (10) is provided with the data acquisition unit (11) of DAS in the pressure data in tested liquid cylinder pressure (8) two chambeies and piston rod real time position data are transferred to.
2. the test system of oil hydraulic cylinder Stribeck model friction parameter according to claim 1, it is characterized in that: the main flow of described DAS is:
(1) DAS, from the frictional force data of every section uniform motion of extracting data oil hydraulic cylinder of collection, comprises frictional force F, oil hydraulic cylinder two cavity pressure sum (p
A+ p
B), oil hydraulic cylinder uniform motion speed v;
(2) frictional force data of extracting is divided into groups according to the oil hydraulic cylinder back pressure, and every group of frictional force data arranged from small to large according to uniform motion speed;
(3) frictional force data of extraction is treated to oil hydraulic cylinder uniform motion speed v and oil hydraulic cylinder two cavity pressure sum (p
A+ p
B) be independent variable x and y, oil hydraulic cylinder frictional force F is dependent variable F (x, y), draws x, y, F(x, y) three-dimensional curve;
(4) given fitting formula f (x, y)=(a+by) (1+ (c-1) exp (dx))+ex, wherein a, b, c, d, e are unknown fitting parameter;
(5) estimate the span of a, b, c, d, e, to the x drawn, y, F(x, y) three-dimensional curve according to given fitting formula and span, carry out the method for least squares surface fitting, thereby obtain the match value of fitting parameter a, b, c, d, e.
3. the test method of utilizing the test system of oil hydraulic cylinder Stribeck model friction parameter claimed in claim 1 to test is characterized in that: comprise the following steps:
(1) hydraulic system, control system, data acquistion system are carried out the test preparation, and hydraulic power unit (9) delivery pressure is normal, and accumulator (4) has filled nitrogen;
(2) hydraulic controller (10), to ratio decompression relief valve (1) output order, is set tested liquid cylinder pressure back of the body cavity pressure, and the rod chamber pressure transducer (5) of tested liquid cylinder pressure (8) detects constant pressure;
(3) hydraulic controller (10) open loop slope output flow servovalve (2) forward open order, the piston rod of tested liquid cylinder pressure (8) starts and at the uniform velocity stretches out;
(4) after the piston rod of tested liquid cylinder pressure (8) reached each position, serving volume valve (2) provided the negative sense instruction, and tested hydraulic cylinder piston rod is retracted;
(5) hydraulic controller (10) output augmented flow servovalve (2) forward open order, the piston rod speed of stretching out of tested liquid cylinder pressure (8) is greater than stretched out speed last time;
(6) data acquisition unit (11) Real-time Collection store two cavity pressure signals of tested liquid cylinder pressure (8) and the signal of displacement transducer (7);
(7) repeating step (4) and (5), can obtain under identical rod chamber back pressure, the frictional force under the different uniform motion of tested liquid cylinder pressure.
(8) repeating step (2)～(7), can obtain the friction value under different two cavity pressures of tested liquid cylinder pressure and different uniform motion speed.
The pressure in the frictional force of (9) by data acquisition unit (11), collection being stored, speed, tested liquid cylinder pressure two chambeies carries out the off-line data surface fitting, obtains tested liquid cylinder pressure Stribeck model friction parameter f
c, f
v, K
b, c
v, F
PrMeasured value.
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| CN108051128A (en) * | 2017-12-28 | 2018-05-18 | 武汉钢铁有限公司 | A kind of plate rolling side guide friction measurement method |
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