CN103410809B - The test system of oil hydraulic cylinder Stribeck model friction parameter and test method - Google Patents
The test system of oil hydraulic cylinder Stribeck model friction parameter and test method Download PDFInfo
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Abstract
The invention discloses a kind of test system and test method of oil hydraulic cylinder Stribeck model friction parameter, comprise ratio decompression relief valve, serving volume valve, solenoid directional control valve, accumulator, rod chamber pressure transducer, rodless cavity pressure transducer, tested liquid cylinder pressure, hydraulic power unit, hydraulic controller and data acquisition unit; Wherein tested liquid cylinder pressure is provided with the displacement transducer for detecting tested hydraulic cylinder piston rod position in real time, be provided with DAS in data acquisition unit and can carry out the process of curved surface fitting data to the data gathered, identification analysis obtains the test value of oil hydraulic cylinder Stribeck model friction parameter.
Description
Technical field
The invention belongs to technical field of hydraulic test, 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 servo-hydraulic control required precision, the frictional force of oil hydraulic cylinder has become a major issue of can not ignore.The Static and dynamic performance of nonlinear normal modes to system of oil hydraulic cylinder has a great impact, and wave distortion phenomenon when creeping phenomenon when main manifestations is low speed, speed zero passage, produces static dead band and dynamic dead zone, even occurs limit cycles oscillations phenomenon etc.In order to better describe the frictional force of oil hydraulic cylinder, be necessary that research carries out accurately test and identification friction parameter to oil hydraulic cylinder frictional force.
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, usually adopts Stribeck friction model to describe oil hydraulic cylinder from static to the situation of change of each state frictional force of motion in engineer applied.The mathematic(al) representation that formula (1) is Stribeck model, 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, maximum static friction force COEFFICIENT K
b, critical coefficient c
v, viscous friction force coefficient f
v, impacting force F
prbe 5 friction parameters.
Can draw from the mathematic(al) representation of Stribeck model, the size of oil hydraulic cylinder frictional force and the speed of related movement v between piston and cylinder body, oil hydraulic cylinder two cavity oil press p
a, p
brelevant.In order to apply this model in fields such as design of Simulation, servocontrol compensation, just need, by measuring the frictional force F of oil hydraulic cylinder under different conditions, to analyze 5 the friction parameter f picked out in model
c, f
v, K
b, c
v, F
prmeasured value.
At present about the test system of oil hydraulic cylinder frictional force and test method mainly exist following several in problem:
1, the test method relating to oil hydraulic cylinder frictional force in current 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 that the mode of employing two oil hydraulic cylinder levels to top loads, and by detecting the pressure of loading hydraulic cylinder and tested hydraulic cylinder two chamber, calculates the frictional force of tested hydraulic cylinder.The test result of the method contains the frictional force of loading hydraulic cylinder, and test result precision is influenced.The second adopts the mode of weight simulation loading to load, and by detecting the pressure in tested hydraulic cylinder two chamber, calculates the frictional force of tested hydraulic cylinder.The test result of the method contains the acceleration inertial force adding loads, and along with the motion of tested hydraulic cylinder, weight is applied to the loading force of tested hydraulic cylinder in change, affects test result.This standard only gives the test method of two kinds of oil hydraulic cylinder frictional force in addition, forms the parameter of frictional force and identification is described.
2, patent of invention " a kind of test system of servo hydraulic cylinder idle load start-up friction force and test method " (publication number: CN101441122) about test fluid cylinder pressure frictional force is in the stress-free situation in oil hydraulic cylinder one chamber, the monolateral minimum starting friction power in another chamber of oil hydraulic cylinder is tested, just a kind of measurement condition of frictional force, patent of invention " a kind of test system of hydraulic cylinder with loading friction force characteristic and test method " (publication number: CN101451893) adopts by forming the test that seal force system realizes oil hydraulic cylinder frictional force between tested liquid cylinder pressure and closed frame, the back pressure cavity of oil hydraulic cylinder directly takes back fuel tank, the pressure in oil hydraulic cylinder active chamber is changed by the deformation force changing Load test framework, this method can only the change of the monolateral pressure of test fluid cylinder pressure on the impact of oil hydraulic cylinder frictional force, above patent only proposes a kind of test method to oil hydraulic cylinder frictional force simultaneously, and the pressure that can not change oil hydraulic cylinder two chamber carrys out the frictional force of test fluid cylinder pressure simultaneously, be not suitable for and the parameter of oil hydraulic cylinder frictional force formed and identification is 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: CN102269638) be all for material for test between mechanical friction a kind of testing apparatus and test method are provided, 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 object 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 are provided; This test system and test method conveniently can obtain the frictional force of oil hydraulic cylinder under different operating pressure and movement velocity, and utilize data acquisition unit analysis to draw oil hydraulic cylinder friction parameter f
c, f
v, K
b, c
v, F
prmeasured value.
The object of the invention is to be achieved through the following technical solutions:
A test system for oil hydraulic cylinder Stribeck model friction parameter, comprises 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 T mouth with the P mouth of hydraulic power unit respectively with T mouth, and the described ratio decompression Y mouth of 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, and the B mouth of described serving volume valve is closed;
The reduce pressure A mouth of relief valve of P mouth and the ratio of described solenoid directional control valve communicates, 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, and the B mouth of described solenoid directional control valve is closed;
The pipeline that the A mouth of described solenoid directional control valve communicates with the rod chamber of tested liquid cylinder pressure is provided with rod chamber pressure transducer and the accumulator of relief valve pressure surge of reducing pressure for dynamic compensation ratio;
The pipeline that the A mouth of described serving volume valve communicates with the rodless cavity of tested liquid cylinder pressure is provided with rodless cavity pressure transducer;
Described tested liquid cylinder pressure is provided with the displacement transducer for detecting tested hydraulic cylinder piston rod position in real time, and displacement signal is transferred to hydraulic controller by institute's displacement sensors;
Pressure signal is transferred to hydraulic controller by described rod chamber pressure transducer and rodless cavity pressure transducer;
Control command is exported to ratio decompression relief valve and serving volume valve by described hydraulic controller;
Described hydraulic controller is provided with the data acquisition unit of DAS in the pressure data in tested liquid cylinder pressure two chamber and piston rod real time position data being transferred to.
Further, the main flow of described DAS is:
(1) DAS is from the frictional force data of the extracting data oil hydraulic cylinder every section of uniform motion gathered, and 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 extracted is divided into groups according to oil hydraulic cylinder back pressure, often organizes frictional force data and arranges 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 be dependent variable F (x, y), draw 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 carry out method of least squares surface fitting according to given fitting formula and span, thus obtain the match value of fitting parameter a, b, c, d, e.
The invention also discloses a kind of test system of described oil hydraulic cylinder Stribeck model friction parameter that utilizes and carry out the test method of testing, comprise the following steps:
(1), hydraulic system, control system, data acquistion system carry out test and prepare, and hydraulic power unit delivery pressure is normal, and accumulator fills nitrogen;
(2), hydraulic controller to ratio decompression relief valve output order, setting 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 negative sense instruction, and tested hydraulic cylinder piston rod is retracted;
(5), hydraulic controller exports augmented flow servovalve forward open order, and 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), step (4) and (5) is repeated, under identical rod chamber back pressure can be obtained, the frictional force under the different uniform motion of tested liquid cylinder pressure.
(8), repeat step (2) ~ (7), the friction value under different two cavity pressures of tested liquid cylinder pressure and different uniform motion speed can be obtained.
(9) pressure in the frictional force, by data acquisition unit stored collection, speed, tested liquid cylinder pressure two chamber carries out 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.
The invention has the beneficial effects as follows:
1, the present invention adopts the reduce pressure mode of relief valve and accumulator of hydraulic proportional 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 hydraulic cylinder process;
2, because the frictional force of oil hydraulic cylinder is relevant with two cavity pressures of oil hydraulic cylinder, by changing the pressure in two chambeies, the frictional force of hydraulic cylinder sealing under different pressured state can be measured;
3, the mode adopting back pressure to load, overcomes and introduces the impact of other load maintainer frictional force, such that the frictional force that measures is truer, precision is higher;
4, by the oil hydraulic cylinder two cavity pressure value 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 will be apparent to those skilled in the art to investigating hereafter, or can be instructed from the practice of the present invention.Target of the present invention and other advantages can be realized by specification below and obtain.
Accompanying drawing explanation
In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, 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 only in order to the present invention is described, instead of 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, comprises 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 T mouth with the P mouth of hydraulic power unit 9 respectively with T mouth, and the described ratio decompression Y mouth of 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, and the B mouth of described serving volume valve 2 is closed;
The reduce pressure A mouth of relief valve 1 of P mouth and the ratio of described solenoid directional control valve 3 communicates, 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, and the B mouth of described solenoid directional control valve 3 is closed;
The pipeline that the A mouth of described solenoid directional control valve 3 communicates with the rod chamber of tested liquid cylinder pressure 8 is provided with rod chamber pressure transducer 5 and the accumulator 4 of relief valve 1 pressure surge of reducing pressure for dynamic compensation ratio;
The pipeline that the A mouth of described serving volume valve 2 communicates with the rodless cavity of tested liquid cylinder pressure 8 is provided with rodless cavity pressure transducer 6;
Described tested liquid cylinder pressure 8 is provided with the displacement transducer 7 for detecting tested liquid cylinder pressure 8 piston rod position in real time, and displacement signal is transferred to hydraulic controller 10 by institute's displacement sensors 7;
Pressure signal is transferred to hydraulic controller 10 by described rod chamber pressure transducer 5 and rodless cavity pressure transducer 6;
Control command is exported to ratio decompression relief valve 1 and serving volume valve 2 by described hydraulic controller 10;
Described hydraulic controller 10 is provided with the data acquisition unit 11 of DAS in the pressure data in tested liquid cylinder pressure 8 liang of chambeies and piston rod real time position data being transferred to.
In the present embodiment, described ratio decompression relief valve 1 is for controlling the rod chamber counterpressure of tested liquid cylinder pressure 8; Described serving volume valve 2 is for controlling the movement velocity of the piston rod of tested liquid cylinder pressure 8; Described solenoid directional control valve 3 for tested liquid cylinder pressure 8 rod chamber pressure is let out completely except time measure the minimum friction of tested liquid cylinder pressure; Described accumulator 4 makes tested liquid cylinder pressure 8 rod chamber back pressure in movement process keep constant for the pressure surge of dynamic compensation ratio decompression relief valve 1.
Further, the main flow of described DAS is:
(1) DAS is from the frictional force data of the extracting data oil hydraulic cylinder every section of uniform motion gathered, and 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 extracted is divided into groups according to oil hydraulic cylinder back pressure, often organizes frictional force data and arranges 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 be dependent variable F (x, y), draw 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 carry out method of least squares surface fitting according to given fitting formula and span, thus obtain the match value of fitting parameter a, b, c, d, e.
Utilize the test system of described oil hydraulic cylinder Stribeck model friction parameter to carry out the test method of testing in the present embodiment, comprise the following steps:
(1), hydraulic system, control system, data acquistion system carry out test and prepare, and hydraulic power unit 9 delivery pressure is normal, and accumulator 4 fills nitrogen;
(2), hydraulic controller 10 to ratio decompression relief valve 1 output order, setting 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 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 reaches each position, serving volume valve 2 provides negative sense instruction, and tested hydraulic cylinder piston rod is retracted;
(5), hydraulic controller 10 exports augmented flow servovalve 2 forward open order, and 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), step (4) and (5) is repeated, under identical rod chamber back pressure can be obtained, the frictional force under the different uniform motion of tested liquid cylinder pressure.
(8), repeat step (2) ~ (7), the friction value under different two cavity pressures of tested liquid cylinder pressure and different uniform motion speed can be obtained.
(9) pressure in the frictional force, by data acquisition unit 11 stored collection, speed, tested liquid cylinder pressure two chamber carries out 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, the oil hydraulic cylinder frictional force F=(Pa-Pb when 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 oil hydraulic cylinder cross-section area; p
a, p
bcan be obtained by pressure transducer, S is oil hydraulic cylinder cross-section area, and the relative velocity v between piston and cylinder body can be obtained by displacement transducer; Therefore organize F, p by measuring more
a, p
b, v numerical value, according to formula (1) (see background technique), utilize DAS can analyze friction parameter f
c, f
v, K
b, c
v, F
prmeasured value.
What finally illustrate is, above embodiment is only in order to illustrate technological scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technological scheme of the present invention or equivalent replacement, and not departing from aim and the scope of the technical program, it all should be encompassed in the middle of right of the present invention.
Claims (2)
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 T mouth with the P mouth of hydraulic power unit (9) respectively with 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), and the B mouth of described serving volume valve (2) is closed;
The reduce pressure A mouth of relief valve (1) of P mouth and the ratio of described solenoid directional control valve (3) communicates, 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), and the B mouth of described solenoid directional control valve (3) is closed;
The pipeline that the A mouth of described solenoid directional control valve (3) communicates with the rod chamber of tested liquid cylinder pressure (8) is provided with rod chamber pressure transducer (5) and the accumulator (4) of relief valve (1) pressure surge of reducing pressure for dynamic compensation ratio;
The pipeline that the A mouth of described serving volume valve (2) communicates with the rodless cavity of tested liquid cylinder pressure (8) is provided with rodless cavity pressure transducer (6);
Described tested liquid cylinder pressure (8) is provided with the displacement transducer (7) for detecting tested liquid cylinder pressure (8) piston rod position in real time, and displacement signal is transferred to hydraulic controller (10) by institute's displacement sensors (7);
Pressure signal is transferred to hydraulic controller (10) by described rod chamber pressure transducer (5) and rodless cavity pressure transducer (6);
Control command is exported to ratio decompression relief valve (1) and serving volume valve (2) by described hydraulic controller (10);
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 chamber and piston rod real time position data being transferred to;
The main flow of described DAS is:
(1) DAS is from the frictional force data of the extracting data oil hydraulic cylinder every section of uniform motion gathered, and 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 extracted is divided into groups according to oil hydraulic cylinder back pressure, often organizes frictional force data and arranges 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 be dependent variable F (x, y), draw the three-dimensional curve of x, y, F (x, y);
(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) span of a, b, c, d, e is estimated, to the x drawn, y, F (x, y) three-dimensional curve carries out method of least squares surface fitting according to given fitting formula and span, thus obtains the match value of fitting parameter a, b, c, d, e.
2. utilize the test system of the oil hydraulic cylinder Stribeck model friction parameter described in claim 1 to carry out the test method of testing, it is characterized in that: comprise the following steps:
(1) hydraulic system, control system, data acquistion system are carried out test and are prepared, and hydraulic power unit (9) delivery pressure is normal, and accumulator (4) fills nitrogen;
(2) hydraulic controller (10) is to ratio decompression relief valve (1) output order, setting 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 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) reaches each position, serving volume valve (2) provides negative sense instruction, and tested hydraulic cylinder piston rod is retracted;
(5) hydraulic controller (10) exports augmented flow servovalve (2) forward open order, and 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) step (4) and (5) is repeated, under identical rod chamber back pressure can be obtained, the frictional force under the different uniform motion of tested liquid cylinder pressure;
(8) repeat step (2) ~ (7), the friction value under different two cavity pressures of tested liquid cylinder pressure and different uniform motion speed can be obtained;
(9) pressure in the frictional force stored collection by data acquisition unit (11), speed, tested liquid cylinder pressure two chamber carries out 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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| JP5996127B2 (en) * | 2013-12-06 | 2016-09-21 | 三菱電機株式会社 | Friction identification method and friction identification apparatus |
| CN104847733B (en) * | 2015-05-07 | 2017-01-04 | 北京理工大学 | A kind of cylinder with frictional force assessment function |
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| CN105927615A (en) * | 2016-06-03 | 2016-09-07 | 南通纺都置业有限公司 | Device for detecting extending friction force of oil cylinder |
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| CN108223492A (en) * | 2018-01-04 | 2018-06-29 | 太原理工大学 | A kind of hydraulic linear motor element seal friction force and viscosity friction coefficient test system and method |
| CN108412842A (en) * | 2018-05-04 | 2018-08-17 | 哈尔滨理工大学 | Hydraulic cylinder friciton compensation control method research |
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