CN105257628B - 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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- CN105257628B CN105257628B CN201510697734.4A CN201510697734A CN105257628B CN 105257628 B CN105257628 B CN 105257628B CN 201510697734 A CN201510697734 A CN 201510697734A CN 105257628 B CN105257628 B CN 105257628B
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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 technology
Servo control mechanism is the general designation for controlling carrier rocket flight executing agency's subsystem.Oxygen kerosene engine is with liquid oxygen
It is fuel with kerosene, possesses nontoxic, pollution-free, high performance-price ratio and the advantages of working service facilitates, is one kind at present in the world
Main flow Launch Vehicle Engine, and it is possibly used for manned, the servo control mechanism for waving oxygen kerosene engine is also to set on indispensable arrow
It is standby.In performance test, needs carry out product under once failure and twice failure for the species servo control mechanism and its controller
Performance test and examination, to ensure the servo control mechanism of triplex redundance carrier rocket when certain remaining breaks down, additionally it is possible to which safety can
Required function is realized by ground.
In the state of ensureing that properties of product and function are unaffected, the typical fault of servosimulator and controller,
Especially carry out lossless fault test in direct fault location state, examine product to become crucial in the performance once and during failure twice.
All kinds of fault simulations, the remaining fault test that there is presently no equipment systematically comprehensively to realize servo control mechanism and controller, it is existing
Some fault simulation modes are：The dispersion of failure function, a set of equipment are completed into the simulation of a failure, such as the power supply of controller
Failure, by the plug of short-circuited terminal, realizes that controller is powered remaining fault test typically using transfer box and transit cable；Control
Device output saturation failure processed is realized by transfer box and external current source；Feedback potentiometer open circuit passes through transfer box short-circuited terminal
Plug realizing；The short trouble of feedback potentiometer is realized outside controller by pin hole line and external power source.
But said method realization is very loaded down with trivial details, preparation amount is big, the time is long, and security is low, easily to servo
Structure and controller produce infringement so that product key chip or part produce expendable damage.The survey of said method in addition
Examination uniformity is poor, is unfavorable for the comparison of data, is only used for the simple disposable confirmatory experiment in laboratory, is not suitable for regular
Ground, regularly, the fault simulation performance test of repeatedly high-volume equipment.
The content of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, there is provided one kind is by fault simulation mould
Switch on and off, and the event of the triplex redundance hydraulic servomechanism of the simulation for realizing multiple failures of being broken by switch connection are set in block
Preparation amount is little, saved the testing time when barrier simulation box, simulation box simulated failure of the present invention and test, reduces workload,
The uniformity of test is improved, is conducive to later stage test data to contrast.
The present invention technical solution be：A kind of fault simulation case of triplex redundance hydraulic servomechanism, including master control mould
Block, power failure module, feedback potentiometer turn-off module, feedback potentiometer short block, servo valve open coil and power amplifier are satisfied
And malfunctioning module, wherein
Power failure module, including identical first electrical combination of three line structures；First electrical combination is opened including K1
Pass, the first contact, the second contact, the 3rd contact, the 4th contact, the 5th contact, the 6th contact, wherein, the first contact connects servo
The 28V+ ends of controller, the second contact connects the 28V ground terminals of servo controller, and the 3rd contact, the 4th contact are hanging, and the 5th contact connects
Tester power supply 28V+ ends, the 6th contact connects tester power supply 28V ground terminals；
Main control module, when analog servomechanism controller power source faulting instruction is received, controls the K1 in power failure module
The contact of switch connection first and the 3rd contact, connect the second contact and the 4th contact；
When analog servomechanism controller power source failure END instruction is received, control the switches of the K1 in power failure module and connect
Logical first contact and the 5th contact, connect the second contact and the 6th contact；
When receiving analog feedback potentiometer open circuit fault and instructing, the disconnected contact of feedback K2 switch connections the 7th of control and the
Nine contacts, connect the 8th contact and the tenth contact, control the short contact of feedback K3 switch connections the 13rd and the 17th contact, connect
14th contact and the 18th contact；
When receiving analog feedback potentiometer short trouble and instructing, the disconnected contact of feedback K2 switch connections the 7th of control and the
Nine contacts, connect the 8th contact and the tenth contact, control the short contact of feedback K3 switch connections the 13rd and the 15th contact, connect
14th contact and the 16th contact；
When receive analog feedback potentiometer open circuit fault END instruction or analog feedback potentiometer short trouble instruction knot
Shu Shi, the disconnected contact of feedback K2 switch connections the 7th of control and the 11st contact, connect the 8th contact and the 12nd contact, control short
The contact of feedback K3 switch connections the 13rd and the 17th contact, connect the 14th contact and the 18th contact；
When servo valve open coil faulting instruction is received, the contact of control K4 switch connections the 19th and the 21st touch
Point, connects the 20th contact and the 22nd contact, the contact of control K5 switch connections the 25th and the 29th contact, connects
26th contact and the 30th contact, the contact of control K6 switch connections 31 and the 35th contact, connect the 32nd
Contact and the 36th contact；
When servo valve coil power amplifier saturation faulting instruction is received, the contact of control K4 switch connections the 19th and the 20th
One contact, connects the 20th contact and the 22nd contact, the contact of control control K5 switch connections the 25th and the 27th
Contact, connects the 26th contact and the 28th contact, the contact of control K6 switch connections 31 and the 35th contact, connects
Logical 32nd contact and the 36th contact, control to adjust the resistance of slide rheostat until the monitoring electricity of the 3rd protective resistance
Press as 1V；
When servo valve open coil failure END instruction or servo valve coil power amplifier saturation failure END instruction is received,
The contact of control K4 switch connections the 19th and the 23rd contact, connect the 20th contact and the 24th contact, and control K5 is opened
Close and connect the 25th contact and the 29th contact, connect the 26th contact and the 30th contact, control K6 switch connections
31 contacts and the 35th contact, connect the 32nd contact and the 36th contact；
Feedback potentiometer turn-off module, including the identical second circuit combination of three line structures；Second circuit combination bag
Disconnected feedback K2 switches, the 7th contact, the 8th contact, the 9th contact, the tenth contact, the 11st contact, the 12nd contact are included, its
In, the 7th contact connects that servo control mechanism potentiometer feedback loop output signal all the way is high-end, and it is anti-that the 8th contact connects servo controller potentiometer
Feedback output signal is high-end, and the 9th contact is hanging, the tenth contact connect feedback potentiometer short block all the way, the 11st contact connects the
12 contacts；
Feedback potentiometer short block, including the identical tertiary circuit combination of three line structures；Tertiary circuit combination bag
Include short feedback K3 switches, the 13rd contact, the 14th contact, the 15th contact, the 16th contact, the 17th contact, the 18th
Contact, wherein, the 13rd contact connects the tenth contact in feedback potentiometer turn-off module all the way, and the 14th contact connects servo controller
Feedback potentiometer feedback loop output signal low side, it is high-end that the 15th the second protective resistance of contact is followed by the second protection voltage, and the tenth
Six contacts connect the second protection voltage ground terminal, and the 17th contact is hanging, and it is defeated that the 18th contact connects servo control mechanism feedback potentiometer feedback
Go out signal low side；
Servo valve open coil and power amplifier saturation malfunctioning module, including identical 4th electrical combination of three line structures；
4th electrical combination include K4 switches, the 19th contact, the 20th contact, the 21st contact, the 22nd contact, the 20th
Three contacts, the 24th contact, K5, the 25th contact, the 26th contact, the 27th contact, the 28th contact,
29 contacts, the 30th contact, K6, the 31st contact, the 32nd contact, the 33rd contact, the 34th contact,
35th contact, the 36th contact, wherein, the 19th contact connects the high-pressure side of a servo control mechanism torque-motor coil,
20th contact connects the high-pressure side of a servo controller torque-motor coil, and the 21st contact meets K5 and switchs, and the 22nd
The protective resistance of contact first is followed by the low-pressure end of servo controller torque-motor coil, and the 23rd contact connects the 24th and touches
Point, the 25th contact connects the 21st contact, the 33rd contact, and the 26th contact connects another group of servo control mechanism torque horse
Up to the low-pressure end of coil, it is high-end that the 27th contact Jing slide rheostats, the 3rd protective resistance are followed by 24V power supplys, and the 28th
Contact connects 24V power supply ground terminals, and the 29th contact is hanging, and the 30th contact connects the low pressure of one group of servo control mechanism torque-motor coil
End, the 31st contact connects the high-pressure side of another servo control mechanism torque-motor coil, and the 32nd contact connects another servo
The high-pressure side of controller torque-motor coil, the 33rd contact connects the 25th contact, and the 34th contact first is protected
Resistance is followed by the low-pressure end of servo controller torque-motor coil, and the 35th contact connects the 36th 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.
Present invention advantage compared with prior art is：
(1) present invention compared with prior art, the feedback potentiometer open circuit by integrated design means simulated implementation therefore
Barrier, feedback potentiometer short trouble, servo valve open coil failure, servo valve coil power amplifier saturation fault simulation, solve and watch
The scattered problem of function of equivalent fault analog machine is taken, has the advantages that multiple functional, device integration is high, easy to use；
(2) present invention compared with prior art, by the connection in series-parallel design of circuit in fault simulation case, solves servo
Once and twice remaining malfunction problem of modelling in structure triplex redundance, with any two remaining in triplex redundance servo control mechanism can be realized
The advantage of malfunction combination；
(3) present invention compared with prior art, by the design protection resistance in fault simulation case and protection voltage, is solved
Existing servo control mechanism working condition measuring technology damages the shortcoming of servo control mechanism, to the simulation of servo control mechanism working condition and
While test, protect tested to servo control mechanism, extend the servo control mechanism life-span；
(4) present invention by feedback potentiometer turn-off module, feedback potentiometer short block, servo valve open coil and
Switch on and off is set in power amplifier saturation malfunctioning module, and the simulation of multiple failures is realized by switch connection or shut-off, prepare
Workload is little, saved the testing time, reduces workload, improves the uniformity of test, is conducive to later stage test data to contrast；
(5) present invention is protected by arranging slide rheostat and kinetic measurement in servo valve coil power amplifier saturation malfunctioning module
Shield resistance both end voltage, compared with prior art, can accurately reach the requirement of power amplifier saturation, it is to avoid test not in place or electric current mistake
Big infringement motor coil；
(6) present invention is avoided compared with prior art by the protective resistance in fault simulation module and protection voltage
Key chip or part in fault simulation and test process to servo controller produces the defect damaged, and protects test to set
It is standby.
Description of the drawings
Fig. 1 is a kind of fault equivalence analogue means schematic diagram of triplex redundance hydraulic servomechanism of the invention；
Fig. 2 is fault simulation case top panel principle schematic of the present invention；
Fig. 3 is controller power source failure combinatorial principle schematic diagram in fault simulation case of the present invention；
Fig. 4 is feedback potentiometer open circuit and short trouble combinatorial principle schematic diagram in fault simulation case of the present invention；
Fig. 5 is servo valve open coil and power amplifier saturation failure combinatorial principle diagram meaning in fault simulation case of the present invention.
Specific embodiment
The present invention relates to the redundance pump that a kind of employing hydraulic motor of oxygen kerosene motor power vector controlled drives
The failure simulation device of control servo control mechanism, realizes the malfunction test and examination of such servo control mechanism, and the analogue means passes through
Combinational logic circuit, protection circuit are realizing various malfunctions and carry out the remaining fault test under the state, while protecting
The shield equipment under test such as servo control mechanism and controller, carries out lossless fault test, the experimentation cost being effectively saved in test process,
Have the advantages that consumption is little, repeatable, quickly position.Described fault equivalence analogue means is divided into two parts：Servo control mechanism event
Barrier equivalent simulation device cable, is responsible for the transmission of controller and servo control mechanism analog signal；Servo control mechanism fault equivalence is simulated
Case, is responsible for the analog equivalent of controller and all kinds of failures of servo control mechanism.Below in conjunction with the accompanying drawings to the fault equivalence analogue means
It is described in detail, as shown in figure 1, the fault equivalence analogue means includes fault simulation case, transit cable, industrial computer, servo
Controller, servo control mechanism, angular displacement sensor, power supply and signal converting case, main control module.
When servo control mechanism remaining fault test is carried out, power supply and signal converting case connect outside 220V voltages, produce 28V electric
Force feed is powered to fault simulation case for angular displacement sensor, and the power supply in power supply and signal converting case is by service cable
Servo controller three groups of+28V dc sources of offer, three groups of power supply normal power supplies, then controller normal work, breaks when power supply is carried out
Fault simulation case is connected between power supply and signal converting case and controller during the fault simulation of road, fault simulation case switching electricity
Servo controller is given behind source, when feedback potentiometer open circuit fault is carried out, being disconnected and connect between servo control mechanism and servo controller,
Fault simulation case disconnects one group of position voltage signal that servo control mechanism potentiometric pick-up is transferred to controller, when being fed back
During potentiometer short trouble, disconnecting and connect between servo control mechanism and servo controller, fault simulation case will potentiometer short circuit all the way,
And a 9V voltages are exported by a 2K protective resistance, and the feedback potentiometer voltage measurement end of servo controller is connected to, it is complete
Into fault simulation, when servo valve open coil failure is carried out, torque-motor open coil is supplied to and is watched by fault simulation case
The protective resistance of the Ω of controller 450 is taken, servo valve open coil fault simulation is completed, it is former when servo valve coil power amplifier saturation is carried out
During barrier, fault simulation case torque-motor open coil and will make another road torque-motor coil power amplifier saturation all the way, realize failure
Simulation, during fault simulation, servo controller produces control signal and delivers to servo control mechanism, angular displacement sensor measurement servo
Mechanism's angular displacement feedback signal delivers to power supply and signal converting case, and bus feedback is delivered to power supply and signal by servo controller
Transfer box, power supply and signal converting case receive the analog quantity feedback signal that servo control mechanism sends, and power supply and signal converting case will be total
Line feedback signal, analog quantity feedback signal, angular displacement feedback signal deliver to industrial computer, wherein, industrial computer connects outside 220V voltages,
The transit cable that signal converting is used is 1553B cables.
As shown in Fig. 2 fault simulation case includes multiple stacked switches and test point, fault simulation case of the present invention includes control
Supply socket, power failure module, feedback potentiometer turn-off module, feedback potentiometer short block, servo valve open coil and
Power amplifier saturation malfunctioning module, therefore fault simulation case panel is broadly divided into three regions, is printed with beside each region simple
Schematic diagram be easy to instruct practical operation, wherein, controller power source failure in the row of the panel lower right corner one, three toggle switches controls
The break-make of No. three controller 28V power supplys, carrys out analog servomechanism controller power source failure.In analog controller power down mode,
No. three controller 28V power supplys for first providing in power supply and signal converting case, by fault simulation case and transit cable, are transferred to and watch
In taking controller, first toggle switch is toggled it to into disconnected 1 position, then the first via is broken to the 28V+ power supplys that controller is provided
Open, all the way power supply open circuit fault state is realized for simulation, is now controlled monitoring and the record of device voltage value, and is watched
Take the performance test of mechanism to check controller all the way to power under open circuit conditions, to the secondary electricity that servo control mechanism sensor is provided
In the state of source is impacted, the performance state of servo control mechanism.
Concrete annexation is illustrated in figure 3 in simulation box of the present invention, and servo controller is connected by " control feed cable "
Be connected to " the control supply socket " of fault simulation case, 13 in socket point, 14 points (KZQDY i.e. in figure (13, be first 14)
Road " 28V+ " signal) be connected with 1 point of " control power failure module " K1 switches, 20 points, 21 points (KZQDY i.e. in figure (20,
21), the first via " 28V ground " signal) it is connected with 2 points of K1 switches；Other end tester is connected by " tester feed cable "
To " the tester supply socket " of fault simulation case, 13 in socket point, 14 points (first via " 28V+ " signal) and " control power supply
5 points of malfunctioning module " K1 are connected, 20 points, 21 points (first via " 28V ground " signals) be connected with 6 points of K1.When K1 switches are pushed
" during normal 1 " key mapping, 1 point of K1 is connected with 5 points, and 2 points are realized 28V normal power supplies with 6 points of connections, whole circuit communication；Work as K1
When switch pushes " disconnected 1 " key mapping, 1 point of K1 is connected with 3 points, 2 points and 4 points connections, and 3 points, 4 points is hanging point, is not connected to any
Circuit, whole circuit disconnects, and realizes that 28V powers open circuit.The tunnels of 28V second, the 3rd road signal break-make principle ibid.Wherein, originally
Tester in invention for servo-drive system tester, in addition simulation box of the present invention is to improve reliability, to power supply or height
Low side has carried out Redundancy Design, such as, KZQDY (13,14) represent respectively two 28V+ ends of servo controller, CSYDY (20,
21) two ground terminals of tester power supply are represented respectively.
Therefore, when servo controller power failure is realized, realize that No. three controller 28V power open circuit by three switches
Malfunction, 28V+1,28V+2,28V+3 represent respectively three groups of 28V power supplys for being supplied to controller, and per group of two contact is represented
The high low side of circuit, middle three devices for having six contacts represent toggle switch and its contact, and the representative of three groups of right side is by power supply
And three groups of 28V power supplys that signal converting case is transmitted, can obtain the detailed work of power failure simulation with reference to Fig. 1, Fig. 2, Fig. 3
Include as flow process：Under controller normal operating conditions, the power supply in power supply and signal converting case in Fig. 1 passes through service cable
Three groups of+28V dc sources are provided for controller, three groups of power supply normal power supplies, then controller normal work.When carrying out electric power disconnection
Fault simulation case is connected between power supply and signal converting case and controller during fault simulation, when carrying out open circuit fault all the way
During simulation, output is to first group of 28V+1 power supply of controller in deenergization and signal converting case, and it is total that industrial computer passes through 1553B
Line gathers and stores the voltage monitoring data and servo performance test data of power supply, confirms the realization of malfunction.Together
Reason, when second group of 28V+2 electric power disconnection fault simulation is carried out, by second toggle switch of lower right side in Fig. 2 to disconnected 2 mark
Stir, carry out malfunction test.When the 3rd group of 28V+3 electric power disconnection fault simulation is carried out, by the 3rd of lower right side in Fig. 2 the
Individual toggle switch to disconnected 3 mark is stirred, and carries out malfunction test.
Feedback potentiometer open circuit and short trouble combination be respectively by the feedback potentiometer short block of fault simulation case,
Realizing, the group is made up of feedback potentiometer turn-off module three rows, six toggle switches, lower panels and circuit board interlock circuit
Connection.When first group of potentiometer open circuit fault test is carried out, one, first row left side toggle switch is allocated to into disconnected 1, first row
One toggle switch on the right is allocated to normal 1, and one group of position of controller is now transferred to by servo control mechanism potentiometric pick-up
Voltage signal is disconnected, and after the malfunction is realized, carries out servo performance test, feedback potentiometer in measurement servo control mechanism
Voltage signal, when the voltage signal for monitoring feedback potentiometer is 0V, measure the torque-motor line in tested servo control mechanism
The voltage of high lower terminal voltage, feedback potentiometer is enclosed, as test data under feedback potentiometer open circuit fault and is stored；Feedback level
Meter short trouble needs two switch combinations of a row to use to reach short trouble state.It is short-circuit when first group of potentiometer is carried out
During fault test, one, first row left side toggle switch is allocated to into disconnected 1, on the right of first row a toggle switch be allocated to it is short by 1, this
When by the connection of switch and internal circuit board circuit, realize potentiometer short trouble state all the way, circuit board leads under the state
Cross power supply and export a 9V voltages, the voltage is surveyed by a 2K protective resistance, the feedback potentiometer voltage for being connected to controller
Amount end, the data are detected and store, and characteristic test and the data storage of servo control mechanism are carried out in this condition.
Feedback potentiometer open circuit and short trouble are realized by the combination of switch and circuit, as shown in Figure 4 when realization
During feedback potentiometer open circuit fault, the break-make of feedback potentiometer is controlled respectively.When to realize short feedback, (feedback potentiometer short circuit is former
Barrier) when, need first to carry out the operation of disconnected feedback, then right side toggle switch is pushed into short feedback end, now, by fault simulation case
Internal circuit, realizes that 9V powers and 2K Europe protective resistance seals in servo controller corresponding end, realizes short feedback states, and test can lead to
Crossing tester carries out the remaining malfunction test.It is described in detail below in conjunction with the accompanying drawings.
The concrete annexation of feedback potentiometer short block of the present invention, feedback potentiometer turn-off module is illustrated in figure 4,
Controller is connected to " socket controller " of fault simulation case by " control cable ", 24 points of socket, 25 points (i.e. in figure
KZQ (24, be that first via servo controller potentiometer feedback loop output signal is high-end 25)) and " feedback potentiometer open circuit and short circuit event
8 points of first group of " disconnected feedback " K2 switch of barrier module " are connected, and 18 points (KZQ (18) i.e. in figure, is first via SERVO CONTROL
Device potentiometer feedback loop output signal low side) it is connected with 14 points of first group of " short feedback " K3 switch；Other end servo control mechanism passes through
" servo control mechanism cable " is connected to " the servo socket " of fault simulation case, 24 points of socket, 25 points (SFKZ i.e. in figure (24,
25) it is, that first via potentiometer feedback loop output signal is high-end) first group with " feedback potentiometer open circuit and short trouble module "
7 points of " disconnected feedback " K2 switches are connected, 18 points (SFKZ (18) i.e. in figure is first via potentiometer feedback loop output signal low side)
It is connected with 18 points of first group of " short feedback " K3 switch.
When off state is realized, the disconnected feedback K2 switches of disconnected feedback are pushed " disconnected 1 ", short feedback K3 switch and push " normal 1 ",
As shown in figure 4, disconnected feedback K2 switchs at 7 points and is connected with 9 points, 8 points are connected with 10 points, and short feedback K3 switchs at 13 points and is connected with 17 points,
14 points are connected with 18 points, and it interrupts 9 points of feedback K2 switches, short feedback K3 and switchs 17 points of hanging, i.e. servo feedback potentiometer outputs
With the output open circuit of controller feedback potentiometer, off state is realized.
When short-circuit condition is realized, disconnected feedback K2 switches are pushed " disconnected 1 ", short feedback switch push " short 1 ", as shown in figure 4,
Disconnected feedback K2 switchs at 7 points and is connected with 9 points, and 8 points are connected with 10 points, and short feedback K3 switchs at 13 points and is connected with 15 points, 14 points and 16 points
It is connected, that is, gives servo controller feedback potentiometer high-end access 9V, servo controller feedback potentiometer low side accesses 9V ground, so as to
Realize short-circuit condition.
After open circuit or short-circuit condition has been simulated, break feedback K2 switch connections point 7 and point 11, connects point 8 and point 12, short anti-
Feedback K3 switch connections point 13 and point 17, connect point 14 and point 18, and so as to recover normal condition, in addition simulation box of the present invention is in order to carry
High reliability, to the high low side of potentiometer feedback loop output signal Redundancy Design has been carried out, such as, SFKZ (24, two 25) are represented respectively
Individual servo control mechanism potentiometer feedback loop output signal is high-end, KZQ (18) represents respectively the feedback output of servo controller feedback potentiometer
Signal low side.
Servo valve open coil and the combination of power amplifier saturation failure are respectively by taking valve coil open fault module, servo valve
Coil power amplifier saturation malfunctioning module realizing function, including three groups of nine toggle switches, three slide rheostats, three measurements
Point, this group of lower panels and circuit board interlock circuit connect.When first group of torque-motor open coil fault test is carried out, will
The switch of upper left first of first group of three toggle switch is allocated to breaking 1-1, and other all groups of switches are allocated to normal condition, now
By the connection of switch and internal circuit board circuit, torque-motor open coil malfunction all the way is realized, it is tested under the state
Protection circuit works, there is provided gives the Ω protective resistances of controller 450, carries out the circuit protection at output order end.When servo control mechanism enters
During row performance test, servo controller sends test instruction, the electric current of valve coil in tester measurement servo control mechanism, when monitoring
The electric current of open fault valve coil is 0 MAH, measure the high lower terminal voltage of each group torque-motor coil in tested servo control mechanism,
The voltage of feedback potentiometer, as test data under servo valve open coil failure and stores.
As shown in figure 5, when servo valve open coil failure is realized, by six, left side toggle switch six torques are realized
The break-make of motor coil, and by the breadboardin coil resistance such as resistance on circuit board, it is to avoid controller end is hanging, plays guarantor
The effect of shield controller.When controller output saturation failure is realized, realized by the combination of switch and circuit.Pass through first
Six toggle switches realize the open circuit of torque-motor coil, cut off the connection of servo control mechanism and controller；Secondly by watching in Fig. 2
Take valve coil open circuit and power amplifier saturation failure stacked switch group right side three switch come realize controller export saturation failure, when dial
When dynamic switch pushes logical constant current, by the resistance of the slide rheostat on the right side of regulation, and surveyed by the measurement point in the lower left corner
The ohmically voltage in 100 Europe is measured, realizes that 1～25mA electric currents inject servo valve coil, now this can be carried out by tester remaining
Degree malfunction test, wherein, fault simulation case of the present invention includes the electronics devices such as power supply, circuit board, slide rheostat, switch
Part, is described in detail below in conjunction with the accompanying drawings.
When servo valve open coil failure is realized, controller is connected to the " control of fault simulation case by " control cable "
Device socket processed ", other end servo control mechanism is connected to " the servo socket " of fault simulation case, such as Fig. 5 by " servo control mechanism cable "
Shown, high-end (SFKZ3 i.e. in figure) of servo motor coil 1 is connected to the 19 of the K4 switches of first group of three toggle switch
Point, high-end (KZQ3 i.e. in figure) of servo controller motor coil 1 is connected at 20 points of the switch, and this switch is allocated to into open circuit
1-1, other all groups of switches are allocated to normal condition, and this 19 points of switch is connected with 21 points, and 20 points are connected with 22 points, first group second
Individual 25 points of switch is connected with 29 points, and 26 points are connected with 30 points, as seen from the figure, the high-end open circuit of servo motor coil 1, controller horse
Up to the low side of coil 1, (KZQ5 i.e. in figure, 6) accesses 450 Ω protective resistances, realizes torque-motor open coil failure shape all the way
State.
When servo valve coil power amplifier saturation failure is realized, by first under torque-motor open coil malfunction all the way
Switch on the right side of three toggle switches of group pushes constant current 1, now by the connection and first of switch and internal circuit board circuit
The regulation of individual slide rheostat, during the 3.3K resistance adjustments, carries out the monitoring of first group of measurement point, when the monitoring voltage reaches 1V
When, the saturation fault current of 10 milliamperes of servo valve coil is realized, reach torque-motor coil power amplifier saturation malfunction all the way, group
After the completion of running off status jointly, protection circuit work, there is provided give the Ω protective resistances of controller 450, carry out the circuit at output order end
Protection, other five coil fault states are realized respectively according to similar operations.Concrete catenation principle is as follows：First group three are dialled
K5 switches on the right side of dynamic switch push constant current 1, and K4 switches in left side are pushed into disconnected 1-1, and K6 switches in lower section push normal 1-2, such as Fig. 5
It is shown, left-side switch 19,21 points be connected, 20,22 points be connected；Right-side switch 25,27 points be connected, 26,28 points be connected, servo motor
Coil 1 high-end (SFKZ3 i.e. in figure) accesses 3.3K slide rheostats, and the low side of servo motor coil 1 (SFKZ5 i.e. in figure) connects
Enter 24V ground, by adjusting slide rheostat resistance, measure the ohmically magnitudes of voltage of 100 Ω, when the monitoring voltage reaches 1V,
Realize the saturation fault current of 10 milliamperes of servo valve coil.
When open fault or saturation failure has been simulated, K4 switch connections point 19 and point 23, connect point 20 and point 24, K5 open
Close and connect point 25 and point 29, connect point 26 and point 30, K6 switch connections point 31 and point 35, connect point 32 and point 36, wherein, this
Bright servo valve open coil and power amplifier saturation malfunctioning module include the identical electrical combination of three line structures, per road electrical combination
Including two-way torque-motor coil (servo motor coil), when all the way torque-motor coil carries out open circuit or saturation failure, separately
Torque-motor coil normal work all the way.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (5)
1. a kind of fault simulation case of triplex redundance hydraulic servomechanism, it is characterised in that including main control module, power failure module,
Feedback potentiometer turn-off module, feedback potentiometer short block, servo valve open coil and power amplifier saturation malfunctioning module, wherein
Power failure module, including identical first electrical combination of three line structures；First electrical combination include K1 switches, the
One contact (1), the second contact (2), the 3rd contact (3), the 4th contact (4), the 5th contact (5), the 6th contact (6), wherein, the
One contact (1) connects the 28V+ ends of servo controller, and the second contact (2) connect the 28V ground terminals of servo controller, the 3rd contact (3),
Four contacts (4) are hanging, and the 5th contact (5) connects tester power supply 28V+ ends, and the 6th contact (6) connects tester power supply 28V ground terminals；
Main control module, when analog servomechanism controller power source faulting instruction is received, controls the K1 switches in power failure module
The first contact (1) and the 3rd contact (3) are connected, the second contact (2) and the 4th contact (4) is connected；
When analog servomechanism controller power source failure END instruction is received, the K1 switch connections the in power failure module are controlled
One contact (1) and the 5th contact (5), connect the second contact (2) and the 6th contact (6)；
When receiving analog feedback potentiometer open circuit fault and instructing, the disconnected contact (7) of feedback K2 switch connections the 7th of control and the
Nine contacts (9), connect the 8th contact (8) and the tenth contact (10), control the short contact (13) of feedback K3 switch connections the 13rd and
17th contact (17), connects the 14th contact (14) and the 18th contact (18)；
When receiving analog feedback potentiometer short trouble and instructing, the disconnected contact (7) of feedback K2 switch connections the 7th of control and the
Nine contacts (9), connect the 8th contact (8) and the tenth contact (10), control the short contact (13) of feedback K3 switch connections the 13rd and
15th contact (15), connects the 14th contact (14) and the 16th contact (16)；
When analog feedback potentiometer open circuit fault END instruction or analog feedback potentiometer short trouble order fulfillment is received,
The disconnected contact (7) of feedback K2 switch connections the 7th of control and the 11st contact (11), connect the 8th contact (8) and the 12nd contact
(12), control the short contact (13) of feedback K3 switch connections the 13rd and the 17th contact (17), the 14th contact (14) of connection and
18th contact (18)；
When servo valve open coil faulting instruction is received, the contact (19) of control K4 switch connections the 19th and the 21st touch
Point (21), connects the 20th contact (20) and the 22nd contact (22), the contact (25) of control K5 switch connections the 25th and
29th contact (29), connects the 26th contact (26) and the 30th contact (30), and control K6 switch connections 31 are touched
Point (31) and the 35th contact (35), connect the 32nd contact (32) and the 36th contact (36)；
When servo valve coil power amplifier saturation faulting instruction is received, the contact (19) of control K4 switch connections the 19th and the 20th
One contact (21), connects the 20th contact (20) and the 22nd contact (22), the contact of control K5 switch connections the 25th
(25) and the 27th contact (27), the 26th contact (26) and the 28th contact (28) are connected, controls K6 switch connections
31 contacts (31) and the 35th contact (35), connect the 32nd contact (32) and the 36th contact (36), control
The resistance of slide rheostat is adjusted until the monitoring voltage of the 3rd protective resistance is 1V；
When servo valve open coil failure END instruction or servo valve coil power amplifier saturation failure END instruction is received, control
The contact (19) of K4 switch connections the 19th and the 23rd contact (23), connect the 20th contact (20) and the 24th contact
(24), the contact (25) of K5 switch connections the 25th and the 29th contact (29) are controlled, connect the 26th contact (26) and
30th contact (30), the contact (31) of control K6 switch connections 31 and the 35th contact (35), connect the 32nd and touch
Point (32) and the 36th contact (36)；
Feedback potentiometer turn-off module, including the identical second circuit combination of three line structures；Second circuit combination includes disconnected
Feedback K2 switches, the 7th contact (7), the 8th contact (8), the 9th contact (9), the tenth contact (10), the 11st contact (11), the
12 contacts (12), wherein, it is high-end that the 7th contact (7) connects servo control mechanism potentiometer feedback loop output signal all the way, the 8th contact (8)
Connect servo controller potentiometer feedback loop output signal high-end, the 9th contact (9) is hanging, and the tenth contact (10) connects feedback level all the way
Meter short block, the 11st contact (11) connects the 12nd contact (12)；
Feedback potentiometer short block, including the identical tertiary circuit combination of three line structures；Tertiary circuit combination includes short
Feedback K3 switches, the 13rd contact (13), the 14th contact (14), the 15th contact (15), the 16th contact (16), the 17th
Contact (17), the 18th contact (18), wherein, the 13rd contact (13) connects the tenth contact in feedback potentiometer turn-off module all the way
(10), the 14th contact (14) meets servo controller feedback potentiometer feedback loop output signal low side, the 15th contact (15) Jing
Two protective resistances are followed by that the second protection voltage is high-end, and the 16th contact (16) connects the second protection voltage ground terminal, the 17th contact
(17) hanging, the 18th contact (18) connects servo control mechanism feedback potentiometer feedback loop output signal low side；
Servo valve open coil and power amplifier saturation malfunctioning module, including identical 4th electrical combination of three line structures；4th
Electrical combination includes that K4 switches, the 19th contact (19), the 20th contact (20), the 21st contact (21), the 22nd are touched
Point (22), the 23rd contact (23), the 24th contact (24), K5, the 25th contact (25), the 26th contact
(26), the 27th contact (27), the 28th contact (28), the 29th contact (29), the 30th contact (30), K6,
31 contacts (31), the 32nd contact (32), the 33rd contact (33), the 34th contact (34), the 35th are touched
Point (35), the 36th contact (36), wherein, the 19th contact (19) connects the high pressure of a servo control mechanism torque-motor coil
End, the 20th contact (20) connects the high-pressure side of a servo controller torque-motor coil, and the 21st contact (21) meets K5 and opens
Close, the 22nd the first protective resistances of contact (22) Jing are followed by the low-pressure end of servo controller torque-motor coil, the 23rd
Contact (23) connects the 24th contact (24), and the 25th contact (25) connects the 21st contact (21), the 33rd contact
(33), the 26th contact (26) meets the low-pressure end of another group of servo control mechanism torque-motor coil, the 27th contact (27) Jing
It is high-end that slide rheostat, the 3rd protective resistance are followed by 24V power supplys, and the 28th contact (28) connects 24V power supply ground terminals, and the 29th
Contact (29) is hanging, and the 30th contact (30) connects the low-pressure end of one group of servo control mechanism torque-motor coil, the 31st contact
(31) high-pressure side of another servo control mechanism torque-motor coil is connect, the 32nd contact (32) connects another servo controller power
The high-pressure side of square motor coil, the 33rd contact (33) meets the 25th contact (25), the 34th contact (34) Jing first
Protective resistance is followed by the low-pressure end of servo controller torque-motor coil, and the 35th contact (35) connects the 36th contact
(36)。
2. the fault simulation case of a kind of triplex redundance hydraulic servomechanism according to claim 1, it is characterised in that：Described
First protective resistance is 450 Ω.
3. the fault simulation case of a kind of triplex redundance hydraulic servomechanism according to claim 1 and 2, it is characterised in that：Institute
The the second protection voltage stated is 9V.
4. the fault simulation case of a kind of triplex redundance hydraulic servomechanism according to claim 1 and 2, it is characterised in that：Institute
The second protective resistance stated is 2000 Ω.
5. the fault simulation case of a kind of triplex redundance hydraulic servomechanism according to claim 1 and 2, it is characterised in that：Institute
The 3rd protective resistance stated is 100 Ω, slide rheostat is 3.3k Ω.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510697734.4A CN105257628B (en) | 2015-10-23 | 2015-10-23 | Fault simulation tank of three-redundancy hydraulic servo mechanism |
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| CN201510697734.4A CN105257628B (en) | 2015-10-23 | 2015-10-23 | Fault simulation tank of three-redundancy hydraulic servo mechanism |
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| CN105257628B true CN105257628B (en) | 2017-05-10 |
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| CN106338983B (en) * | 2016-09-29 | 2018-12-21 | 北京精密机电控制设备研究所 | A kind of triplex redundance digital servosystem once Test to Failure method |
| CN106527399B (en) * | 2016-11-18 | 2019-10-25 | 武汉理工大学 | SCM Based automobile electric control system fault injection system |
| CN117666446B (en) * | 2024-01-30 | 2024-04-19 | 湖南高至科技有限公司 | Servo control driver test system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS61189379A (en) * | 1985-02-18 | 1986-08-23 | Mitsubishi Heavy Ind Ltd | Performance test of hydraulic control device |
| CN103133457A (en) * | 2011-12-02 | 2013-06-05 | 西安霍威机电技术有限公司 | Hydraulic test detection circuit |
| BR112015007611B8 (en) * | 2012-10-05 | 2022-11-22 | Danfoss Power Solutions Ii Technology As | METHOD FOR DETECTING AND ISOLATING A LEAK IN A HYDRAULIC SYSTEM, COMPUTER READABLE STORAGE MEDIA AND HYDRAULIC SYSTEM |
| JP6011875B2 (en) * | 2013-07-08 | 2016-10-19 | Smc株式会社 | Actuator abnormality detection system |
| CN104595551B (en) * | 2013-10-30 | 2017-04-26 | 北京精密机电控制设备研究所 | Three-redundancy servo valve driving circuit |
| CN204009467U (en) * | 2014-08-15 | 2014-12-10 | 韶山恒旺电气有限公司 | A kind of mining hydraulic equipment oil pressure pressure detection control circuit |
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