CN105973727B - A kind of balance weight impact testing machine control system and its control method - Google Patents
A kind of balance weight impact testing machine control system and its control method Download PDFInfo
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- CN105973727B CN105973727B CN201610351138.5A CN201610351138A CN105973727B CN 105973727 B CN105973727 B CN 105973727B CN 201610351138 A CN201610351138 A CN 201610351138A CN 105973727 B CN105973727 B CN 105973727B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/30—Investigating strength properties of solid materials by application of mechanical stress by applying a single impulsive force, e.g. by falling weight
- G01N3/303—Investigating strength properties of solid materials by application of mechanical stress by applying a single impulsive force, e.g. by falling weight generated only by free-falling weight
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0058—Kind of property studied
- G01N2203/0076—Hardness, compressibility or resistance to crushing
- G01N2203/0087—Resistance to crushing
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Abstract
The invention discloses a kind of balance weight impact testing machine control systems, including testing machine, controller and frequency-conversion drive apparatus, driving motor and speed detector are connected on frequency-conversion drive apparatus, controller is connected to industrial ethernet switch, it is separately connected remote operation computer and execute-in-place panel on industrial ethernet switch, position detecting device is connected on controller；Its control method is also disclosed, step is：a）Default impact energy values；b）It is automatic to calculate target raised position value；c）Location control is carried out to the pendulum of promotion；d）Speed control is carried out to driving motor；e）Direct torque is carried out to driving motor；f）Current control is carried out to frequency-conversion drive apparatus；g）Electric current is exported to driving motor.The present invention only needs to be simply input a data by execute-in-place panel, you can is automatically accurately positioned to hoisting mechanism, whole process is not necessarily to manual intervention.
Description
Technical field
The invention belongs to technical field of automation, are related to the Machinery Control System more particularly to one of shock machine test platform
Kind balance weight impact testing machine control system and its control method.
Background technology
Horizontal shock machine is the instrument for supporting shock proof performance under dynamic load to metal material and testing, extensively
It is general to be applied to the units such as metallurgy, machine-building.It is also that R&D institution carries out the indispensable test equipment of new material research.
Horizontal shock machine testing machine operation principle：Shock machine is the punching of once dropping hammer with potential energy possessed by pendulum
Hit sample.Pendulum is the beater mechanism of shock machine, and effect is hit subject material, is the important of impact test platform
Component part.Pendulum is beater mechanism to be discharged when in certain hoisting depth, centered on shock machine balance staff with one
Constant speed degree impact specimen, because to obtain result different for different impact velocitys.Only impact specimen when impact energy it is complete
It is absorbed by sample, without being absorbed by other parts, such impact test data are just accurate and reliable.
Existing shock machine control system only realizes the positioning of pendulum, the determination of final position and school by simply controlling
Proved recipe method mainly by visually observe with manual measurement based on.Due to having resistance, the accumulated error of speed reducer, physical location in air
Big with instrument display location application condition, control effect is not satisfactory.And rely on whether eye-observation position correctly carries out hand
Dynamic operation, cannot achieve and automatically control, and the corresponding time is slow, and precision can not more ensure, needing repeatedly to adjust can just obtain properly
Position, influence test result.
Therefore swing arm position inaccurate how is solved, the corresponding time is slow, is those skilled in the art's problem to be solved.
Invention content
In order to solve the above-mentioned technical problem, an object of the present invention is to provide a kind of horizontal shock machine control system
System, the corresponding time for improving control and positioning accuracy improve impact test platform to solve the limitation of the prior art
Accuracy and reliability.
The technical solution adopted by the present invention to solve the technical problems is：A kind of balance weight impact testing machine control system, packet
Testing machine, controller and the frequency-conversion drive apparatus for connecting controller are included, driving motor is connected on the frequency-conversion drive apparatus
And speed detector, the controller are connected to industrial ethernet switch, while on industrial ethernet switch respectively
Remote operation computer and execute-in-place panel are connected, position detecting device is connected on the controller；
The testing machine includes for placing the anvil block mechanism of study subject and being separately positioned on side before and after anvil block mechanism
Frame mechanism and anticollision mechanism, hoist engine is provided on the frame mechanism, the hoist engine includes connection driving electricity
Gear-box, reel, shaft coupling and the steel wire rope of machine, the steel cord ends are connected with hoisting mechanism, and hoisting mechanism end is logical
It crosses main shaft to connect with frame mechanism, pendulum is connected with by latch hook on the hoisting mechanism；
The execute-in-place panel is used to set the items of impact energy data and testing machine needed for study subject
Operating parameter and state parameter；
The speed detector includes an incremental-rotating coder being arranged in driving motor output shaft, is used
In the real-time speed of detection driving motor, and speed pulse signal is sent to frequency-conversion drive apparatus；
The frequency-conversion drive apparatus, for carrying out position-velocity close-loop control to driving motor；
The position detecting device includes an anchoring and an absolute value type encoder, the anchoring
Steel wire rope is fixed on hoisting mechanism, and shaft end is coaxial with absolute value encoder, the hoisting depth for detecting hoisting mechanism；
The controller is a set of programmable controller, for receiving needed for the study subject of execute-in-place panel setting
Impact energy data and be converted into the target position data of hoisting mechanism, and receive the position data from hoisting mechanism.
A kind of balance weight impact testing machine control system, position detecting device are arranged on frame mechanism top.
A kind of balance weight impact testing machine control system, frame mechanism lower end are arranged one for detecting elevator
Whether structure is in the close switch of electromagnetic type of its original extreme lower position.
A kind of balance weight impact testing machine control system is located at 1/3 He of elevator total travel on frame mechanism
A correlation optoelectronic switch is respectively equipped at 2/3.
A kind of balance weight impact testing machine control system, there are one limit switches for setting on reel.
The second object of the present invention is to provide a kind of control method of horizontal shock machine control system.
The technical solution adopted by the present invention to solve the technical problems is：A kind of control of balance weight impact testing machine control system
Method processed, step are：a）Default study subject is by impact energy values；
b）By step a）In energy value by calculate be converted to hoisting mechanism target location value；
c）Location control is carried out to hoisting mechanism；
d）Speed control is carried out to driving motor；
e）Direct torque is carried out to driving motor；
f）Output current control is carried out to frequency-conversion drive apparatus；
g）Electric current is exported to driving motor；
According to the real time execution speed set-up procedure d of the related pendulum of hoisting mechanism）；
According to the current location set-up procedure c of the related pendulum of hoisting mechanism）.
Further, further include following steps：The step d）In, when the related pendulum of hoisting mechanism is close to target location
When, speed is gradually reduced, and when reaching target location, speed 0, operation stops.
Further, further include following steps：Electromagnetic type is detected close to switch and is inputted when hoisting mechanism is in extreme lower position
For signal to controller, controller is corrected the home position of hoisting mechanism；When hoisting mechanism walking to maximum allowable stroke
When height, limit switch is triggered and signal is sent into controller, and controller sends quick shutdown order, and lifting process stops.
Further, further include following steps：One rise correction value and a decline corrected value are arranged to hoisting mechanism, when
Hoisting mechanism runs to correlation optoelectronic switch position pair, and the positional value of hoisting mechanism is divided to be corrected；The position feedback
Signal is transmitted to controller by synchronous serial signal transmission form, and controller receives position data output speed data-oriented and arrives
Frequency-conversion drive apparatus.
Further, further include following steps：The frequency-conversion drive apparatus by picking rate detection device signal simultaneously
Another position data is calculated, is sent into controller, is used as reference with protection；The frequency-conversion drive apparatus uses vector
Control mode realizes the closed-loop control of driving motor, and frequency conversion is controlled according to the velocity pulse feedback signal of speed detector output
Frequency, voltage and the phase of driving device output, reach and are accurately controlled to motor speed.
The beneficial effects of the invention are as follows：For control in the distance shock machine carry out testing operation when, operating personnel into
Without carrying out manual intervention to impact test platform hoisting mechanism when row operation, tentation data need to be only inputted in systems, and remote
Journey sends order；Without the object height of hoisting mechanism in manual measurement and setting impact test platform, need to only input
In equipment input Device under test needed for impact energy datum, and to system send " accumulation of energy " order after, system can carry out automatically
It calculates, realizes the location control of the related pendulum of hoisting mechanism, this is different from traditional mode of operation；It can be according to different control essences
Degree requires, and system adjusts its speed of service in real time automatically, when the related pendulum of hoisting mechanism finally positions, meets its registration control
Make desired error range；Hoisting mechanism is when target location discharges pendulum, the impact energy of generation and the institute in input equipment
The target impact energy value of input is essentially identical, and error is no more than ± 1%.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram of testing machine of the present invention；
Fig. 3 is the operating process schematic diagram of testing machine of the present invention；
Fig. 4 is the operation logic figure of control method of the present invention.
Each reference numeral is：1-hoist engine, 2-main shafts, 3-hoisting mechanisms, 4-frame mechanisms, 5-latch hooks, 6-pendulum
Hammer, 7-anvil block mechanisms, 8-anticollision mechanisms, 9-study subjects, 11-controllers, 12-industrial ethernet switchs, 13-positions
Set detection device, 14-remote operation computers, 15-frequency-conversion drive apparatus, 16-execute-in-place panels, 17-velocity measurings
Device, 18-driving motors, A-PROFIBUS fieldbus, B-Industrial Ethernet, C-signal cable, D-power cable.
Specific implementation mode
Invention is further described in detail below in conjunction with the accompanying drawings.
Shown in referring to Fig.1, the invention discloses a kind of balance weight impact testing machine control system, can to make its beater mechanism into
Row is accurately positioned, and operating personnel need to only input impact energy data, without the feelings by visually observing or being measured by Other Instruments
Under condition, the operation of accumulation of energy and impact test is intelligently completed comprising testing machine, controller 11 and total by the scenes PROFIBUS
The frequency-conversion drive apparatus 15 of line A connections controller 11 is connected with driving on the frequency-conversion drive apparatus 15 by power cable D
Motor 18 is connected with speed detector 17 by signal cable C, is connected by Industrial Ethernet B on the controller 11
There is industrial ethernet switch 12, being separately connected remote operation by Industrial Ethernet B on industrial ethernet switch 12 calculates
Machine 14 and execute-in-place panel 16 are connected with position detecting device 13 on the controller 11 by signal cable C.
With reference to shown in Fig. 2, the testing machine includes for placing the anvil block mechanism 7 of study subject 9 and being separately positioned on
The frame mechanism 4 and anticollision mechanism 8 of side before and after anvil block mechanism 7 are provided with hoist engine 1, the volume on the frame mechanism 4
It includes driving motor 18, gear-box, reel, shaft coupling and steel wire rope to raise machine 1, and the steel cord ends are connected with hoisting mechanism
3,3 end of hoisting mechanism is flexibly connected by main shaft 2 with frame mechanism 4, is connected with by latch hook 5 on the hoisting mechanism 3
Pendulum 6.
Execute-in-place panel 16 is for setting 9 impact energy data of study subject and every operating parameter of testing machine
And its state parameter.
The speed detector 17 includes an incremental rotary coding being arranged on 18 output shaft of driving motor
Device, the real-time speed for detecting driving motor 18, and speed pulse signal is sent to frequency-conversion drive apparatus 15；
The frequency-conversion drive apparatus 15, for driving motor 18 carry out position --- velocity close-loop control, speed and
The size of torque is decided by that 11 given real time position data of controller, system use direct torque, speed control and position
Three closed-loop controls are controlled to ensure precision property.
The assembly detection apparatus 13 includes an anchoring and an absolute value type encoder（Predominantly detect portion
Part）, the steel wire rope of the anchoring is fixed on hoisting mechanism 3, the hoisting depth for detecting hoisting mechanism 3.
The controller 11 is a set of programmable controller, has following function：Execute-in-place panel 16 is received to set
Study subject 9 needed for impact energy datum, after series of computation, and be converted into the mesh of 3 related pendulum 6 of hoisting mechanism
Cursor position data, and receive the real time position data from hoisting mechanism 3.
The described setting of position detecting device 13 is at 4 top of frame mechanism, since assembly detection apparatus 13 is not put to the test machine
The mechanical links such as gear-box, reel, shaft coupling machining accuracy and boom hoist cable lap wound, mechanically deform, vibration shadow
It rings, it might even be possible to using the reel of no grooving；Position detecting device 13 is influenced smaller, position feed back signal conduct by installation accuracy
Main positions control detection source, and controller 11 is transmitted to by synchronous serial signal transmission form, ensure position data transmission
Real-time and reliability, controller 11 receive hoisting mechanism real time position data, and given by series of computation output speed
Data are to frequency-conversion drive apparatus 15.
An electromagnetic type is arranged close to switch, for detecting whether hoisting mechanism 3 is located in 3 home position of hoisting mechanism
In its original extreme lower position.
On the frame mechanism 4 a correlation light is respectively equipped at the 1/3 and 2/3 of 3 total travel of hoisting mechanism
A corrected value is respectively set in 3 raising and lowering of hoisting mechanism for electric switch, when hoisting mechanism 3 promoted or decline arrive
When this correction position, this positional value is corrected respectively, it is ensured that value of the hoisting mechanism 3 during traveling is correct, not by machine
The influence of some external factor such as tool friction, gap.
There are one limit switches for setting on the reel, when the walking of hoisting mechanism 3 is to maximum allowable stroke height, limit
Bit switch is triggered and signal is sent into controller 11, and controller 11 sends quick shutdown order automatically, and lifting process stops, from
And the excessive uplink of hoisting mechanism is prevented, entire mechanical system is protected.
With reference to specific application scenarios, the present invention is further explained.Present invention could apply to but be not limited to following
Situation：
Certain is needed to carry out one-shot strike experiment by experiment metal material, tests its shock proof ability.By metal material
Material（That is study subject 9）It is placed in test area（I.e. above anvil block mechanism 7）Afterwards, on impact test platform field operation panel 16
The energy datum impacted needed for input（Unit is kilojoule）, click and provided on remote operation computer 14 or execute-in-place panel 16
" accumulation of energy " operation, 3 related beater mechanism of hoisting mechanism（That is pendulum 6）Slowly rise, until reaching object height（This target is high
Degree is established according to default impact energy data by series of algorithms and amendment）.
After 3 related beater mechanism of hoisting mechanism reaches object height, acted on by the arrestment mechanism of hoist engine 1, in high-altitude
It remains static, waits for next step command.If operating personnel confirm that the impact energy stored at this time is accurate, behaviour
Next step can be carried out by making personnel；Otherwise, operating personnel can re-enter impact energy data, and carry out " accumulation of energy " behaviour
Make, hoisting mechanism 3 understands related pendulum 6 and re-starts positioning.
After hoisting mechanism 3 and pendulum 6 run to target location, operating personnel can be at remote operation computer 14 or scene
" impact " order is clicked on operation panel 16, controller 11 controls the mechanical equipment of impact test platform at this time, makes hoisting mechanism 3
On latch hook 5 and pendulum 6 disengage, pendulum 6 is hit on subject material, blow energy is since gravity acceleration is fallen
The error of the data inputted on operation panel 16 at the scene, the two is no more than ± 1%.
The present invention only needs to be simply input a simple data, you can hoisting mechanism is automatically accurately positioned,
Whole process is not necessarily to manual intervention.For conventional impact test platform, has the following advantages：Setting is rushed by subjects
When hitting energy datum, without the artificial hoisting depth for calculating impact test platform, inputs and impacted directly in input equipment
Impact test energy datum needed for object, system can be automatically converted into the height of hoisting mechanism；If it find that defeated
The data entered are mistaken, can with real time modifying test data, system can according to new input data adjust automatically hoisting mechanism,
And need not manually calculate again, whole system realizes the intelligence of operation.
With reference to shown in Fig. 3, Fig. 4, the control method step of control system of the present invention is：
a）Default impact energy values；
b）System calculates target automatically（That is 3 related pendulum 6 of hoisting mechanism）Raised position value；
c）Location control is carried out to 3 related pendulum 6 of hoisting mechanism；
d）To driving motor 18 carry out speed control, when 3 related pendulum 6 of hoisting mechanism is close to target location, speed by
Decrescence small, when reaching target location, speed 0, operation stops；
e）Direct torque is carried out to driving motor 18；
f）Output current control is carried out to frequency-conversion drive apparatus 15；
g）Electric current is exported to driving motor 18；
According to the real time execution speed set-up procedure d of 3 related pendulum 6 of hoisting mechanism）；
According to the current location set-up procedure c of 3 related pendulum 6 of hoisting mechanism）.
Further, electromagnetic type detects when hoisting mechanism 3 is in extreme lower position input signal to controller 11 close to switch,
Controller 11 is corrected the home position of hoisting mechanism 3, when ensuring to carry out impact test every time in this way, hoisting mechanism and pendulum
Hammer the accuracy in home position into shape；The position feed back signal is transmitted to controller 11 by synchronous serial signal transmission form,
Controller 11 receives hoisting mechanism real time position data, and is filled by series of computation output speed data-oriented to frequency conversion drive
Set 15；The frequency-conversion drive apparatus 15 is by acquiring 17 signal of reel end speed detector and another position being calculated
Data are sent into controller 11, are used as reference with protection, and the frequency-conversion drive apparatus 15 is realized using vector control mode and driven
The closed-loop control of dynamic motor, the velocity pulse feedback signal control frequency-conversion drive apparatus 15 exported according to speed detector 17 are defeated
Frequency, voltage and the phase gone out, reaches and is accurately controlled to motor speed.
The above-described embodiments merely illustrate the principles and effects of the present invention, and the embodiment that part uses, for
For those skilled in the art, without departing from the concept of the premise of the invention, can also make it is several deformation and
It improves, for example increases the quantity of detection device, change the position etc. of detection device, these are all within the scope of protection of the present invention.
Claims (7)
1. a kind of balance weight impact testing machine control system, it is characterised in that：Including testing machine, controller（11）With connection controller
（11）Frequency-conversion drive apparatus（15）, the frequency-conversion drive apparatus（15）On be connected with driving motor（18）It is filled with velocity measuring
It sets（17）, the controller（11）It is connected to industrial ethernet switch（12）, while industrial ethernet switch（12）On
It is separately connected remote operation computer（14）With execute-in-place panel（16）, the controller（11）On be connected with position detection
Device（13）；
The testing machine includes being used for placing study subject（9）Anvil block mechanism（7）Be separately positioned on anvil block mechanism（7）Before
The frame mechanism of rear side（4）And anticollision mechanism（8）, the frame mechanism（4）On be provided with hoist engine（1）, the elevator
Machine（1）Including connecting driving motor（18）Gear-box, reel, shaft coupling and steel wire rope, the steel cord ends are connected with
Hoisting mechanism（3）, hoisting mechanism（3）End passes through main shaft（2）With frame mechanism（4）Connection, the hoisting mechanism（3）It is upper logical
Cross latch hook（5）It is connected with pendulum（6）；
The execute-in-place panel（16）For setting study subject（9）Required impact energy data and testing machine
Every operating parameter and state parameter；
The speed detector（17）It is arranged in driving motor including one（18）Incremental rotary coding on output shaft
Device, for detecting driving motor（18）Real-time speed, and speed pulse signal is sent to frequency-conversion drive apparatus（15）；
The frequency-conversion drive apparatus（15）, for driving motor（18）Carry out position-velocity close-loop control；
The position detecting device（13）Including an anchoring and an absolute value type encoder, the anchoring
Steel wire rope is fixed on hoisting mechanism（3）On, shaft end and absolute value type encoder are coaxial, for detecting hoisting mechanism（3）Carry
Rise；
The controller（11）For a set of programmable controller, for receiving execute-in-place panel（16）The study subject of setting
（9）Required impact energy data are simultaneously converted into hoisting mechanism（3）Target position data, and receive come from hoisting mechanism
（3）Position data；
The frame mechanism（4）Lower end is arranged one for detecting hoisting mechanism（3）Whether its original extreme lower position is in
The close switch of electromagnetic type；
The frame mechanism（4）It is upper to be located at hoisting mechanism（3）A correlation light is respectively equipped at the 1/3 of total travel and 2/3
Electric switch；
There are one limit switches for setting on the reel.
2. a kind of balance weight impact testing machine control system according to claim 1, which is characterized in that the position detection
Device（13）It is arranged in frame mechanism（4）Top.
3. a kind of control method of balance weight impact testing machine control system as described in claim 1, which is characterized in that step is：
a）Default study subject（9）By impact energy values；
b）By step a）In energy value by calculate be converted to hoisting mechanism（3）Target location value；
c）To hoisting mechanism（3）Carry out location control；
d）To driving motor（18）Carry out speed control；
e）To driving motor（18）Carry out direct torque；
f）To frequency-conversion drive apparatus（15）Carry out output current control；
g）Electric current is exported to driving motor（18）；
According to hoisting mechanism（3）Related pendulum（6）Real time execution speed set-up procedure d）；
According to hoisting mechanism（3）Related pendulum（6）Current location set-up procedure c）.
4. control method according to claim 3, which is characterized in that further include following steps：The step d）In, when
Hoisting mechanism（3）Related pendulum（6）When close to target location, speed is gradually reduced, when reaching target location, speed 0,
Operation stops.
5. control method according to claim 3, which is characterized in that further include following steps：Electromagnetic type is examined close to switch
Measure hoisting mechanism（3）Input signal is to controller when in extreme lower position（11）, controller（11）To hoisting mechanism（3）Original
Beginning position is corrected；Work as hoisting mechanism（3）When walking to maximum allowable stroke height, limit switch is triggered and send signal
Enter controller（11）, controller（11）Quick shutdown order is sent, lifting process stops.
6. control method according to claim 3, which is characterized in that further include following steps：To hoisting mechanism（3）Setting
One rise correction value and a decline corrected value, work as hoisting mechanism（3）Correlation optoelectronic switch position pair is run to, it is right respectively
Hoisting mechanism（3）Positional value be corrected；Position detecting device（13）Position feed back signal passed by synchronous serial signal
Defeated mode is transmitted to controller（11）, controller（11）Position data output speed data-oriented is received to frequency-conversion drive apparatus
（15）.
7. control method according to claim 3, which is characterized in that further include following steps：The frequency conversion drive dress
It sets（15）Pass through picking rate detection device（17）Simultaneously another position data is calculated in signal, is sent into controller（11）, make
To refer to and protecting use；The frequency-conversion drive apparatus（15）Driving motor is realized using vector control mode（18）Closed loop control
System, according to speed detector（17）The velocity pulse feedback signal of output controls frequency-conversion drive apparatus（15）The frequency of output,
Voltage and phase, reach and are accurately controlled to motor speed.
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| CN107764499A (en) * | 2017-11-16 | 2018-03-06 | 苏州苏试试验集团股份有限公司 | The medium-sized shock machine swing arm lifting of pendulum and brake gear |
| CN108871978A (en) * | 2018-05-25 | 2018-11-23 | 哈尔滨工程大学 | A kind of experimental provision measuring ice compression failure intensity |
| CN110954413A (en) * | 2019-12-12 | 2020-04-03 | 苏州苏试试验集团股份有限公司 | Control device and control method of impact response spectrum test bed |
| CN110954418A (en) * | 2019-12-12 | 2020-04-03 | 苏州苏试试验集团股份有限公司 | Control device and control method of small impact test bed |
| CN110907294A (en) * | 2019-12-12 | 2020-03-24 | 苏州苏试试验集团股份有限公司 | Control device and control method of impact machine |
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| CN202092847U (en) * | 2011-01-30 | 2011-12-28 | 交通运输部公路科学研究所 | Safety detecting device of key position structure of large-size passenger bus |
| CN102879163A (en) * | 2011-07-13 | 2013-01-16 | 鸿富锦精密工业（深圳）有限公司 | Shock testing machine and shock testing method |
| CN103010491B (en) * | 2012-11-30 | 2015-04-22 | 北京控制工程研究所 | Control method for mechanical arm capture test on air-floating tables |
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