CN105257628A - Fault simulation tank of three-redundancy hydraulic servo mechanism - Google Patents
Fault simulation tank of three-redundancy hydraulic servo mechanism Download PDFInfo
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- CN105257628A CN105257628A CN201510697734.4A CN201510697734A CN105257628A CN 105257628 A CN105257628 A CN 105257628A CN 201510697734 A CN201510697734 A CN 201510697734A CN 105257628 A CN105257628 A CN 105257628A
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Abstract
A fault simulation tank of a three-redundancy hydraulic servo mechanism comprises a master control module, a feedback potentiometer disconnection module, a feedback potentiometer short-circuit module and a servo valve coil open circuit and power amplifier saturation fault module. The master control module controls the fault module to achieve the servo controller power source fault, the feedback potentiometer disconnection module to achieve the feedback potentiometer disconnection fault, the feedback potentiometer short-circuit module to achieve the feedback potentiometer short-circuit fault and the servo valve coil open circuit and power amplifier saturation fault module to achieve the servo valve coil open circuit and power amplifier saturation fault. The fault simulation tank solves the problem that the functions of an existing fault simulation technology are dispersive and has the beneficial effects of being complete in function, high in equipment integrity and convenient to use. In addition, a protection circuit is arranged in the fault simulation tank, the work state of the servo mechanism is simulated and tested, meanwhile, the tested servo mechanism is protected, and the service life of the servo mechanism is prolonged.
Description
Technical field
The present invention relates to servo mechanism test field, particularly a kind of fault simulation case of triplex redundance hydraulic servomechanism.
Background technique
Servomechanism is general designation carrier rocket flight being controlled to actuator's subtense angle.Oxygen kerosene motor with liquid oxygen and kerosene for fuel, the advantage such as possess nontoxic, pollution-free, high performance-price ratio and working service is convenient, be current a kind of main flow Launch Vehicle Engine in the world, and may be used for manned, the servomechanism waving oxygen kerosene motor is also equipment on indispensable arrow.This kind servomechanism and controller thereof are in testing property, need in once fault and testing property and the examination of carrying out product twice under fault, to ensure that the servomechanism of triplex redundance carrier rocket is when certain remaining breaks down, and can also realize required function safely and reliably.
Under guarantee product performance and the impregnable state of function, the typical fault of servosimulator and controller, especially carries out harmless fault test in direct fault location state, and the performance of examination product when once and twice fault becomes crucial.Equipment is not also had to come systematically comprehensively to realize all kinds of fault simulations, the remaining fault test of servomechanism and controller at present, existing fault simulation mode is: fault function disperseed, a set of equipment completes the simulation of a fault, the power supply trouble of such as controller generally adopts transfer box and transit cable, by the plug of short-circuited terminal, realize controller and to power remaining fault test; Controller output saturation fault is realized by transfer box and external current source; Feedback potentiometer open circuit is realized by the plug of transfer box short-circuited terminal; The short trouble of feedback potentiometer is realized by pin hole line and external power supply in controller outside.
But said method realization is very loaded down with trivial details, preparatory work amount is large, the time is long, and Security is low, easily infringement is produced to servomechanism and controller, make product key chip or parts produce expendable damage.The test conformity of said method is poor in addition, is unfavorable for the comparison of data, the simple disposable confirmatory experiment in laboratory can only be used for, be not suitable for normally, regularly, the fault simulation testing property of equipment in enormous quantities repeatedly.
Summary of the invention
The technical problem that the present invention solves is: overcome the deficiencies in the prior art, provide a kind of by arranging switch on and off in fault simulation module, and the fault simulation case of the triplex redundance hydraulic servomechanism of the simulation achieving multiple fault of being broken by switch connection, when simulation box simulated failure of the present invention and test preparatory work amount little, saved the test time, reduce workload, improve the conformity of test, be conducive to later stage test data contrast.
Technical solution of the present invention is: a kind of fault simulation case of triplex redundance hydraulic servomechanism, comprise main control module, power failure module, feedback potentiometer turn-off module, feedback potentiometer short block, servovalve open coil and the saturated malfunctioning module of power amplifier, wherein
Power failure module, comprises identical first electrical combination of three line structures; First electrical combination comprises K switch 1, first contact, the second contact, the 3rd contact, the 4th contact, the 5th contact, the 6th contact, wherein, first contact connects the 28V+ end of servocontroller, second contact is held with meeting the 28V of servocontroller, 3rd contact, the 4th contact are unsettled, 5th contact meets testing instrument power supply 28V+ and holds, and the 6th contact is held with meeting testing instrument power supply 28V;
Main control module, when receiving analog servomechanism controller power source faulting instruction, the K1 controlled in power failure module connects the first contact and the 3rd contact, connects the second contact and the 4th contact;
When receiving the fault END instruction of analog servomechanism controller power source, the K1 controlled in power failure module connects the first contact and the 5th contact, connects the second contact and the 6th contact;
When receiving the open circuit fault instruction of analog feedback potentiometer, control switch K2 connects the 7th contact and the 9th contact, connects the 8th contact and the tenth contact, and control switch K3 connects the 13 contact and the 17 contact, connects the 14 contact and the 18 contact;
When receiving the short trouble instruction of analog feedback potentiometer, control switch K2 connects the 7th contact and the 9th contact, connects the 8th contact and the tenth contact, and control switch K3 connects the 13 contact and the 15 contact, connects the 14 contact and the 16 contact;
When receiving the open circuit fault END instruction of analog feedback potentiometer or analog feedback potentiometer short trouble order fulfillment, control switch K2 connects the 7th contact and the 11 contact, connect the 8th contact and the 12 contact, control switch K3 connects the 13 contact and the 17 contact, connects the 14 contact and the 18 contact;
When receiving servovalve open coil faulting instruction, control switch K4 connects the 19 contact and the 21 contact, connect the 20 contact and the 22 contact, control switch K5 connects the 25 contact and the 29 contact, connect the 26 contact and the 30 contact, control switch K6 connects 31 contacts and the 35 contact, connects the 32 contact and the 36 contact;
When receiving the saturated faulting instruction of servovalve coil power amplifier, control switch K4 connects the 19 contact and the 21 contact, connect the 20 contact and the 22 contact, control control switch K5 and connect the 25 contact and the 27 contact, connect the 26 contact and the 28 contact, control switch K6 connects 31 contacts and the 35 contact, connect the 32 contact and the 36 contact, the resistance of regulating and controlling slide rheostat is until the monitoring voltage of the 3rd protective resistance is 1V;
When receiving the fault END instruction of servovalve open coil or the saturated fault END instruction of servovalve coil power amplifier, control switch K4 connects the 19 contact and the 23 contact, connect the 20 contact and the 24 contact, control switch K5 connects the 25 contact and the 29 contact, connect the 26 contact and the 30 contact, control switch K6 connects 31 contacts and the 35 contact, connects the 32 contact and the 36 contact;
Feedback potentiometer turn-off module, comprises the identical second circuit combination of three line structures; Second circuit combination comprises K switch 2, the 7th contact, the 8th contact, the 9th contact, the tenth contact, the 11 contact, the 12 contact, wherein, it is high-end that 7th contact connects a road servomechanism potentiometer feedback loop output signal, it is high-end that 8th contact connects servocontroller potentiometer feedback loop output signal, 9th contact is unsettled,, the tenth contact connects a road feedback potentiometer short block, the 11 contact connects the 12 contact;
Feedback potentiometer short block, comprises the identical tertiary circuit combination of three line structures; Tertiary circuit combination comprises K switch the 3, the 13 contact, the 14 contact, the 15 contact, the 16 contact, the 17 contact, the 18 contact, wherein, 13 contact connects the tenth contact in a road feedback potentiometer turn-off module, 14 contact connects servocontroller feedback potentiometer feedback loop output signal low side, it is high-end that 15 contact connects the second protection voltage after the second protective resistance, 16 contact is held with connecing the second protection voltage, 17 contact is unsettled, and the 18 contact connects servomechanism feedback potentiometer feedback loop output signal low side;
Servovalve open coil and the saturated malfunctioning module of power amplifier, comprise identical 4th electrical combination of three line structures, 4th electrical combination comprises K switch 4, 19 contact, 20 contact, 21 contact, 22 contact, 23 contact, 24 contact, K5, 25 contact, 26 contact, 27 contact, 28 contact, 29 contact, 30 contact, K6, 31 contact, 32 contact, 33 contact, 34 contact, 35 contact, 36 contact, wherein, 19 contact connects the high voltage terminal of a servomechanism torque motor coil, 20 contact connects the high voltage terminal of a servocontroller torque motor coil, 21 contact connects K switch 5, 22 contact connects the low voltage terminal of servocontroller torque motor coil after the first protective resistance, and the 23 contact connects the 24 contact, and the 25 contact connects the 21 contact, 33 contact, the 26 contact connects the low voltage terminal of another group servomechanism torque motor coil, and the 27 contact is through slide rheostat, 24V power supply is connect high-end after 3rd protective resistance, 28 contact is held with connecing 24V power supply, 29 contact is unsettled, 30 contact connects the low voltage terminal of one group of servomechanism torque motor coil, 31 contact connects the high voltage terminal of another servomechanism torque motor coil, 32 contact connects the high voltage terminal of another servocontroller torque motor coil, 33 contact connects the 25 contact, 34 contact connects the low voltage terminal of servocontroller torque motor coil after the first protective resistance, and the 35 contact connects the 36 contact.
The first described protective resistance is 450 Ω.
The second described protection voltage is 9V.
The second described protective resistance is 2000 Ω.
The 3rd described protective resistance is 100 Ω, slide rheostat is 3.3k Ω.
The present invention's advantage is compared with prior art:
(1) the present invention compared with prior art, feedback potentiometer open circuit fault, feedback potentiometer short trouble, servovalve open coil fault, the saturated fault simulation of servovalve coil power amplifier by integrated design means simulated implementation, solve the problem of the function dispersion of servo equivalent fault analog machine, there is advantage multiple functional, that device integration is high, easy to use;
(2) the present invention compared with prior art, designed by the series parallel connection of circuit in fault simulation case, to solve in servomechanism triplex redundance once and twice remaining fault state problem of modelling, there is the advantage that can realize any two remaining fault states combinations in triplex redundance servomechanism;
(3) the present invention compared with prior art, by design protection resistance in fault simulation case and protection voltage, solve the shortcoming of existing servomechanism working state measuring technology infringement servomechanism, while to the simulation of servomechanism working state and test, protect tested to servomechanism, extend the servomechanism life-span;
(4) the present invention by arranging switch on and off in feedback potentiometer turn-off module, feedback potentiometer short block, servovalve open coil and the saturated malfunctioning module of power amplifier, and the simulation of multiple fault is achieved by switch connection or shutoff, preparatory work amount is little, saved the test time, reduce workload, improve the conformity of test, be conducive to later stage test data contrast;
(5) the present invention by arranging slide rheostat and dynamic measurement protective resistance both end voltage in the saturated malfunctioning module of servovalve coil power amplifier, compared with prior art, accurately can reach the saturated requirement of power amplifier, avoid testing the not in place or excessive infringement motor coil of electric current;
(6) the present invention is by the protective resistance in fault simulation module and protection voltage, compared with prior art avoids and produce to the key chip of servocontroller or parts the defect damaged in fault simulation and test process, protect testing installation.
Accompanying drawing explanation
Fig. 1 is the fault equivalence simulator schematic diagram of a kind of triplex redundance hydraulic servomechanism of the present invention;
Fig. 2 is fault simulation case top plate principle schematic of the present invention;
Fig. 3 is fault simulation case middle controller power failure combination principle schematic diagram of the present invention;
Fig. 4 is feedback potentiometer open circuit and short trouble combination principle schematic diagram in fault simulation case of the present invention;
Fig. 5 is that in fault simulation case of the present invention, servovalve open coil and the saturated fault combination principle figure of power amplifier illustrate.
Embodiment
The failure simulation device of the redundancy pump control servomechanism that the employing hydraulic motor that the present invention relates to a kind of oxygen kerosene motor power vector control drives; realize fault state test and the examination of such servomechanism; this simulator realizes various fault state by combinational logic circuit, protective circuit and carries out the remaining fault test under this state; protect the equipment under test such as servomechanism and controller simultaneously; carry out harmless fault test; effective experimentation cost of having saved in test process, have consume little, can repeat, the advantage such as quick position.Described fault equivalence simulator is divided into two-part: servomechanism fault equivalence simulator cable, is responsible for the transmission of controller and servomechanism analogue signal; Servomechanism fault equivalence simulation box, is responsible for the analog equivalent of controller and all kinds of fault of servomechanism.Below in conjunction with accompanying drawing, this fault equivalence simulator is described in detail, as shown in Figure 1, this fault equivalence simulator comprises fault simulation case, transit cable, process control machine, servocontroller, servomechanism, angular displacement sensor, power supply and signal converting case, main control module.
When carrying out the fault test of servomechanism remaining, power supply and signal converting case connect outside 220V voltage, produce 28V voltage and deliver to fault simulation case, and power for angular displacement sensor, power supply in power supply and signal converting case by electricity cable for servocontroller provides three groups of+28V DC electrical source, three groups of power supply normal power supplies, then controller normally works, when carrying out electric power disconnection fault simulation, fault simulation case is connected between power supply and signal converting case and controller, servocontroller is given after fault simulation case switching power supply, when carrying out feedback potentiometer open circuit fault, disconnect between servomechanism and servocontroller and connecting, one group of position voltage signal that servomechanism potentiometric pick-up is transferred to controller by fault simulation case disconnects, when carrying out feedback potentiometer short trouble, disconnect between servomechanism and servocontroller and connecting, the potentiometer short circuit of fault simulation Xiang Jiang No. mono-, and export a 9V voltage by a 2K protective resistance, be connected to the feedback potentiometer voltage measurement end of servocontroller, complete fault simulation, when carrying out servovalve open coil fault, fault simulation case is by torque motor open coil, and be supplied to the protective resistance of servocontroller 450 Ω, complete servovalve open coil fault simulation, when carrying out the saturated fault of servovalve coil power amplifier, fault simulation Xiang Jiang No. mono-torque motor open coil also makes another road torque motor coil power amplifier saturated, realize fault simulation, in fault simulation process, servocontroller produces control signal and delivers to servomechanism, angular displacement sensor is measured servomechanism angular displacement feedback signal and is delivered to power supply and signal converting case, bus feedback is delivered to power supply and signal converting case by servocontroller, power supply and signal converting case receive the analog amount feedback signal that servomechanism sends, power supply and signal converting case are by bus feedback, analog amount feedback signal, angular displacement feedback signal delivers to process control machine, wherein, process control machine connects outside 220V voltage, the transit cable that signal converting uses is 1553B cable.
As shown in Figure 2, fault simulation case comprises multiple integral switch and test point, fault simulation case of the present invention comprises control power socket, power failure module, feedback potentiometer turn-off module, feedback potentiometer short block, servovalve open coil and the saturated malfunctioning module of power amplifier, therefore fault simulation case panel is mainly divided into three regions, the side in each region is printed with simple schematic diagram and is convenient to instruct practical operation, wherein, controller power source fault is arranged in the panel lower right corner one, three toggle switches control the break-make of three road controller 28V power supplys, carry out analog servomechanism controller power source fault.When analog controller power down mode, the three road controller 28V power supplys first power supply and signal converting case provided, by fault simulation case and transit cable, be transferred in servocontroller, first toggle switch is toggled it to disconnected 1 position, the 28V+ power supply that then first via provides to controller is disconnected, simulate a road power open circuit fault state realize, now carry out monitoring and the record of controller voltage value, and carry out the testing property of servomechanism, a road controller is checked to power under open circuit conditions, to under the affected state of secondary power supply that servomechanism sensor provides, the performance state of servomechanism.
Be illustrated in figure 3 concrete annexation in simulation box of the present invention, servocontroller is connected to " the control power socket " of fault simulation case by " control feed cable ", 13 points in socket, the 14 points (KZQDY (13 namely in figure, 14), for the first via " 28V+ " signal) be connected with 1 of " controlling power failure module " K1 switch, 20 points, the 21 points (KZQDY (20 namely in figure, 21), the first via " 28V ground " signal) be connected with 2 of K1 switch; The other end testing instrument is connected to " the testing instrument power socket " of fault simulation case by " testing instrument feed cable ", 5 of 13 points in socket, 14 points (first via " 28V+ " signal) and " controlling power failure module " K1 are connected, and 6 of 20 points, 21 points (first via " 28V ground " signal) and K1 are connected.When K1 switch pushes " normal 1 " key mapping, connect with 5 for 1 of K1, connect with 6 for 2, whole circuit communication, realizes 28V normal power supply; When K1 switch pushes " disconnected 1 " key mapping, connects with 3 for 1 of K1, connects with 4 for 2,3 points, 4 be unsettled point, do not connect any circuit, whole circuit disconnection, realize 28V and to power open circuit.The break-make principle of 28V second tunnel, the 3rd road signal is the same.Wherein, testing instrument in the present invention is the test instrument of servo-system, simulation box of the present invention is in order to improve reliability in addition, Redundancy Design has been carried out to power supply or high low side, such as, KZQDY (13,14) represents two 28V+ ends of servocontroller respectively, CSYDY (20,21) represents that two ground of testing instrument power supply are held respectively.
Therefore, when realizing servocontroller power failure, realize three road controller 28V by three switches to power open circuit fault state, 28V+1, 28V+2, 28V+3 represents the three groups of 28V power supplys being supplied to controller respectively, often organize the high low side that two contacts represent circuit, middle three have the device of six contacts to represent toggle switch and contact thereof, three groups, right side represents the three groups of 28V power supplys transmitted by power supply and signal converting case, composition graphs 1, Fig. 2, the detailed operation flow process that Fig. 3 can obtain power failure simulation comprises: under controller normal working, power supply in power supply in Fig. 1 and signal converting case by electricity cable for controller provides three groups of+28V DC electrical source, three groups of power supply normal power supplies, then controller normally works.When carrying out electric power disconnection fault simulation, fault simulation case is connected between power supply and signal converting case and controller, when carrying out a road open circuit fault simulation, first group of 28V+1 power supply of controller is outputted in deenergization and signal converting case, process control machine is gathered by 1553B bus and stores voltage monitoring data and the servo performance test data of power supply, confirms the realization of fault state.In like manner, when carrying out second group of 28V+2 electric power disconnection fault simulation, second of right lower side in Fig. 2 toggle switch being stirred to disconnected 2 marks, carries out fault state test.When carrying out the 3rd group of 28V+3 electric power disconnection fault simulation, the 3rd of right lower side in Fig. 2 the toggle switch being stirred to disconnected 3 marks, carries out fault state test.
Feedback potentiometer open circuit and short trouble combination realize respectively by the feedback potentiometer short block of fault simulation case, feedback potentiometer turn-off module, and this group is made up of three rows, six toggle switches, and lower panels is connected with circuit board interlock circuit.When carrying out first group of potentiometer open circuit fault test, one, first row left side toggle switch is allocated to disconnected 1, a toggle switch on the right of first row is allocated to normal 1, the one group of position voltage signal being now transferred to controller by servomechanism potentiometric pick-up is disconnected, after this fault state realizes, carry out servo performance test, measure the voltage signal of feedback potentiometer in servomechanism, when the voltage signal monitoring feedback potentiometer is 0V, measure the torque motor coil height lower terminal voltage in tested servomechanism, the voltage of feedback potentiometer, store as test data under feedback potentiometer open circuit fault, feedback potentiometer short trouble needs a row two switch combinations to use, and reaches short trouble state.When carrying out first group of potentiometer short trouble test; one, first row left side toggle switch is allocated to disconnected 1; a toggle switch on the right of first row is allocated to short by 1; now pass through the connection of switch and internal circuit board circuit; realize a road potentiometer short trouble state; under this state, circuit board exports a 9V voltage by power supply; this voltage is by a 2K protective resistance; be connected to the feedback potentiometer voltage measurement end of controller; these data are detected and store, and carry out the characteristic test of servomechanism in this condition and store data.
Feedback potentiometer open circuit and short trouble are realized by the combination of switch and circuit, as shown in Figure 4 when realizing feedback potentiometer open circuit fault, controls the break-make of feedback potentiometer respectively.When short feedback (feedback potentiometer short trouble) will be realized; need the operation first carrying out disconnected feedback; again right side toggle switch is pushed short feedback end; now; by fault simulation case internal circuit; realize 9V to power and 2K Europe protective resistance seals in servocontroller corresponding end, realize short feedback states, test and carry out the test of this remaining fault state by testing instrument.Be described in detail below in conjunction with accompanying drawing.
Be illustrated in figure 4 feedback potentiometer short block of the present invention, the concrete annexation of feedback potentiometer turn-off module, controller is connected to " socket controller " of fault simulation case by " control cables ", 24 points of socket, 25 points (the KZQ (24 namely in figure, 25), for first via servocontroller potentiometer feedback loop output signal is high-end) be connected with 8 of " feedback potentiometer open circuit and short trouble module " first group " disconnected feed back " K2 switch, 18 points (the KZQ (18) namely in figure, for first via servocontroller potentiometer feedback loop output signal low side) be connected with 14 of first group of " short feedback " K3 switch, the other end servomechanism is connected to " the servo socket " of fault simulation case by " servomechanism cable ", 24 points of socket, the 25 points (SFKZ (24 namely in figure, 25), for first via potentiometer feedback loop output signal is high-end) be connected with 7 of " feedback potentiometer open circuit and short trouble module " first group " disconnected feed back " K2 switch, 18 of 18 points (SFKZ (18) namely in figure is first via potentiometer feedback loop output signal low side) and first group of " short feedback " K3 switch are connected.
When realizing turnoff state, disconnected feedback switch K2 pushes " disconnected 1 ", short feedback K3 switch pushes " normal 1 ", and as shown in Figure 4, disconnected feedback K2 switch was connected with 9 o'clock for 7 o'clock, within 8 o'clock, be connected with 10 o'clock, short feedback K3 switch was connected with 17 o'clock for 13 o'clock, within 14 o'clock, was connected with 18 o'clock, and it interrupts feedback K2 switch 9 point, 17, short feedback K3 switch is unsettled, namely servo feedback potentiometer exports and exports open circuit with controller feedback potentiometer, realizes turnoff state.
When realizing short-circuit condition, disconnected feedback K2 switch pushes " disconnected 1 ", short feedback switch pushes " short 1 ", and as shown in Figure 4, disconnected feedback K2 switch was connected with 9 o'clock for 7 o'clock, within 8 o'clock, be connected with 10 o'clock, short feedback K3 switch was connected with 15 o'clock for 13 o'clock, within 14 o'clock, was connected with 16 o'clock, namely gave the high-end access 9V of servocontroller feedback potentiometer, servocontroller feedback potentiometer low side access 9V ground, thus realize short-circuit condition.
After having simulated open circuit or short-circuit condition, K switch 2 cut-in point 7 and point 11, cut-in point 8 and point 12, K switch 3 cut-in point 13 and point 17, cut-in point 14 and point 18, thus recovery normal state, simulation box of the present invention is in order to improve reliability in addition, Redundancy Design has been carried out to potentiometer feedback loop output signal height low side, such as, SFKZ (24,25) represents that two servomechanism potentiometer feedback loop output signals are high-end, KZQ (18) represents servocontroller feedback potentiometer feedback loop output signal low side respectively respectively.
Servovalve open coil and the combination of power amplifier saturated fault be respectively by taking valve coil open fault module, the saturated malfunctioning module of servovalve coil power amplifier carrys out practical function, comprise three groups of nine toggle switches, three slide rheostats, three measuring points, this group lower panels is connected with circuit board interlock circuit.When carrying out first group of torque motor open coil fault test; first, the upper left switch of first group of three toggle switch is allocated to open circuit 1-1; other all groups of switches are allocated to normal state; now pass through the connection of switch and internal circuit board circuit; realize a road torque motor open coil fault state; tested protective circuit work under this state, is supplied to controller 450 Ω protective resistance, carries out the circuit protection of output order end.When servomechanism carries out testing property, servocontroller sends test instruction, the electric current of valve coil in servomechanism measured by testing instrument, when the electric current monitoring open fault valve coil is 0 MAH, measure the voltage of each group of torque motor coil height lower terminal voltage in tested servomechanism, feedback potentiometer, store as test data under servovalve open coil fault.
As shown in Figure 5; when realizing servovalve open coil fault, realized the break-make of six torque motor coils by six, left side toggle switch, and by breadboardin coil resistances such as the resistance on circuit board; avoid controller end unsettled, play the effect of protection controller.When realizing controller output saturation fault, realized by the combination of switch and circuit.First realized the open circuit of moment motor coil by six toggle switches, cut off the connection of servomechanism and controller, secondly controller output saturation fault is realized by three switches on the right side of servovalve open coil in Fig. 2 and power amplifier saturated fault integral switch group, when toggle switch pushes logical constant current, by regulating the resistance of the slide rheostat on right side, and by the measuring point in the lower left corner, measure the 100 ohmically voltages in Europe, realize 1 ~ 25mA pulse current injectingt servovalve coil, now can carry out the test of this remaining fault state by testing instrument, wherein, fault simulation case of the present invention comprises power supply, circuit board, slide rheostat, the electronic devices such as switch, be described in detail below in conjunction with accompanying drawing.
When realizing servovalve open coil fault, controller is connected to " socket controller " of fault simulation case by " control cables ", the other end servomechanism is connected to " the servo socket " of fault simulation case by " servomechanism cable ", as shown in Figure 5, high-end (SFKZ3 namely in figure) of servomotor coil 1 is connected to 19 points of the K4 switch of first group of three toggle switch, high-end (KZQ3 namely in figure) of servocontroller motor coil 1 is connected to 20 points of this switch, this switch is allocated to open circuit 1-1, other all groups of switches are allocated to normal state, this switch was connected with 21 o'clock for 19 o'clock, within 20 o'clock, be connected with 22 o'clock, first group of second switch was connected with 29 o'clock for 25 o'clock, within 26 o'clock, be connected with 30 o'clock, as seen from the figure, the high-end open circuit of servomotor coil 1, low side (the KZQ5 namely in figure of controller motor coil 1, 6) 450 Ω protective resistances are accessed, realize a road torque motor open coil fault state.
When realizing the saturated fault of servovalve coil power amplifier, under a road torque motor open coil fault state, the switch on the right side of first group of three toggle switch is pushed constant current 1, now by switch and the connection of internal circuit board circuit and the adjustment of first slide rheostat, during this 3.3K resistance adjustment, carry out the monitoring of first group of measuring point, when this monitoring voltage reaches 1V, realize the saturated fault current of servovalve coil 10 milliamperes, reach the saturated fault state of a road torque motor coil power amplifier, after integral switch state completes, protective circuit works, be supplied to controller 450 Ω protective resistance, carry out the circuit protection of output order end, other five coil fault states realize according to similar operations respectively.Concrete catenation principle is as follows: the K5 switch on the right side of first group of three toggle switch is pushed constant current 1, left side K4 switch is pushed disconnected 1-1, below K6 switch pushes normal 1-2, as shown in Figure 5, left-side switch 19,21 be connected, 20,22 be connected; Right-side switch 25,27 be connected, 26,28 are connected, servomotor coil 1 high-end (SFKZ3 namely in figure) accesses 3.3K slide rheostat, servomotor coil 1 low side (SFKZ5 namely in figure) accesses 24V ground, by regulating slide rheostat resistance, measure the ohmically magnitude of voltage of 100 Ω, when this monitoring voltage reaches 1V, realize the saturated fault current of servovalve coil 10 milliamperes.
When having simulated open fault or saturated fault, K switch 4 cut-in point 19 and point 23, cut-in point 20 and point 24, K switch 5 cut-in point 25 and point 29, cut-in point 26 and point 30, K switch 6 cut-in point 31 and point 35, cut-in point 32 and point 36, wherein, servovalve open coil of the present invention and the saturated malfunctioning module of power amplifier comprise the identical electrical combination of three line structures, every road electrical combination comprises two-way torque motor coil (servomotor coil), and when a road torque motor coil carries out open circuit or saturated fault, another road torque motor coil normally works.
The content be not described in detail in specification of the present invention belongs to the known technology of those skilled in the art.
Claims (5)
1. a fault simulation case for triplex redundance hydraulic servomechanism, is characterized in that comprising main control module, power failure module, feedback potentiometer turn-off module, feedback potentiometer short block, servovalve open coil and the saturated malfunctioning module of power amplifier, wherein
Power failure module, comprises identical first electrical combination of three line structures; First electrical combination comprises K switch 1, first contact (1), the second contact (2), the 3rd contact (3), the 4th contact (4), the 5th contact (5), the 6th contact (6), wherein, first contact (1) connects the 28V+ end of servocontroller, second contact (2) is held with meeting the 28V of servocontroller, 3rd contact (3), the 4th contact (4) are unsettled, 5th contact (5) meets testing instrument power supply 28V+ and holds, and the 6th contact (6) is held with meeting testing instrument power supply 28V;
Main control module, when receiving analog servomechanism controller power source faulting instruction, the K1 controlled in power failure module connects the first contact (1) and the 3rd contact (3), connects the second contact (2) and the 4th contact (4);
When receiving the fault END instruction of analog servomechanism controller power source, the K1 controlled in power failure module connects the first contact (1) and the 5th contact (5), connects the second contact (2) and the 6th contact (6);
When receiving the open circuit fault instruction of analog feedback potentiometer, control switch K2 connects the 7th contact (7) and the 9th contact (9), connect the 8th contact (8) and the tenth contact (10), control switch K3 connects the 13 contact (13) and the 17 contact (17), connects the 14 contact (14) and the 18 contact (18);
When receiving the short trouble instruction of analog feedback potentiometer, control switch K2 connects the 7th contact (7) and the 9th contact (9), connect the 8th contact (8) and the tenth contact (10), control switch K3 connects the 13 contact (13) and the 15 contact (15), connects the 14 contact (14) and the 16 contact (16);
When receiving the open circuit fault END instruction of analog feedback potentiometer or analog feedback potentiometer short trouble order fulfillment, control switch K2 connects the 7th contact (7) and the 11 contact (11), connect the 8th contact (8) and the 12 contact (12), control switch K3 connects the 13 contact (13) and the 17 contact (17), connects the 14 contact (14) and the 18 contact (18);
When receiving servovalve open coil faulting instruction, control switch K4 connects the 19 contact (19) and the 21 contact (21), connect the 20 contact (20) and the 22 contact (22), control switch K5 connects the 25 contact (25) and the 29 contact (29), connect the 26 contact (26) and the 30 contact (30), control switch K6 connects 31 contacts (31) and the 35 contact (35), connects the 32 contact (32) and the 36 contact (36);
When receiving the saturated faulting instruction of servovalve coil power amplifier, control switch K4 connects the 19 contact (19) and the 21 contact (21), connect the 20 contact (20) and the 22 contact (22), control control switch K5 and connect the 25 contact (25) and the 27 contact (27), connect the 26 contact (26) and the 28 contact (28), control switch K6 connects 31 contacts (31) and the 35 contact (35), connect the 32 contact (32) and the 36 contact (36), the resistance of regulating and controlling slide rheostat is until the monitoring voltage of the 3rd protective resistance is 1V,
When receiving the fault END instruction of servovalve open coil or the saturated fault END instruction of servovalve coil power amplifier, control switch K4 connects the 19 contact (19) and the 23 contact (23), connect the 20 contact (20) and the 24 contact (24), control switch K5 connects the 25 contact (25) and the 29 contact (29), connect the 26 contact (26) and the 30 contact (30), control switch K6 connects 31 contacts (31) and the 35 contact (35), connect the 32 contact (32) and the 36 contact (36),
Feedback potentiometer turn-off module, comprises the identical second circuit combination of three line structures; Second circuit combination comprises K switch 2, the 7th contact (7), the 8th contact (8), the 9th contact (9), the tenth contact (10), the 11 contact (11), the 12 contact (12), wherein, it is high-end that 7th contact (7) connects a road servomechanism potentiometer feedback loop output signal, it is high-end that 8th contact (8) connects servocontroller potentiometer feedback loop output signal, 9th contact (9) is unsettled, tenth contact (10) connects a road feedback potentiometer short block, and the 11 contact (11) connects the 12 contact (12);
Feedback potentiometer short block, comprises the identical tertiary circuit combination of three line structures, tertiary circuit combination comprises K switch 3, 13 contact (13), 14 contact (14), 15 contact (15), 16 contact (16), 17 contact (17), 18 contact (18), wherein, 13 contact (13) connects the tenth contact (10) in a road feedback potentiometer turn-off module, 14 contact (14) connects servocontroller feedback potentiometer feedback loop output signal low side, it is high-end that 15 contact (15) connects the second protection voltage after the second protective resistance, 16 contact (16) is held with connecing the second protection voltage, 17 contact (17) is unsettled, 18 contact (18) connects servomechanism feedback potentiometer feedback loop output signal low side,
Servovalve open coil and the saturated malfunctioning module of power amplifier, comprise identical 4th electrical combination of three line structures, 4th electrical combination comprises K switch 4, 19 contact (19), 20 contact (20), 21 contact (21), 22 contact (22), 23 contact (23), 24 contact (24), K5, 25 contact (25), 26 contact (26), 27 contact (27), 28 contact (28), 29 contact (29), 30 contact (30), K6, 31 contact (31), 32 contact (32), 33 contact (33), 34 contact (34), 35 contact (35), 36 contact (36), wherein, 19 contact (19) connects the high voltage terminal of a servomechanism torque motor coil, 20 contact (20) connects the high voltage terminal of a servocontroller torque motor coil, 21 contact (21) connects K switch 5, 22 contact (22) connects the low voltage terminal of servocontroller torque motor coil after the first protective resistance, 23 contact (23) connects the 24 contact (24), and the 25 contact (25) connects the 21 contact (21), 33 contact (33), the 26 contact (26) connects the low voltage terminal of another group servomechanism torque motor coil, and the 27 contact (27) is through slide rheostat, 24V power supply is connect high-end after 3rd protective resistance, 28 contact (28) is held with connecing 24V power supply, 29 contact (29) is unsettled, 30 contact (30) connects the low voltage terminal of one group of servomechanism torque motor coil, 31 contact (31) connects the high voltage terminal of another servomechanism torque motor coil, 32 contact (32) connects the high voltage terminal of another servocontroller torque motor coil, 33 contact (33) connects the 25 contact (25), 34 contact (34) connects the low voltage terminal of servocontroller torque motor coil after the first protective resistance, and the 35 contact (35) connects the 36 contact (36).
2. the fault simulation case of a kind of triplex redundance hydraulic servomechanism according to claim 1, is characterized in that: the first described protective resistance is 450 Ω.
3. the fault simulation case of a kind of triplex redundance hydraulic servomechanism according to claim 1 and 2, is characterized in that: the second described protection voltage is 9V.
4. the fault simulation case of a kind of triplex redundance hydraulic servomechanism according to claim 1 and 2, is characterized in that: the second described protective resistance is 2000 Ω.
5. the fault simulation case of a kind of triplex redundance hydraulic servomechanism according to claim 1 and 2, is characterized in that: the 3rd described protective resistance is 100 Ω, slide rheostat is 3.3k Ω.
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| CN106527399A (en) * | 2016-11-18 | 2017-03-22 | 武汉理工大学 | Automobile electric control system fault injection system based on single chip microcomputer |
| CN117666446A (en) * | 2024-01-30 | 2024-03-08 | 湖南高至科技有限公司 | Servo control driver test system |
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| CN105257628B (en) | 2017-05-10 |
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