CN106094805B - A kind of pneumatic force servo system power control effect test platform and method - Google Patents
A kind of pneumatic force servo system power control effect test platform and method Download PDFInfo
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- CN106094805B CN106094805B CN201610590620.4A CN201610590620A CN106094805B CN 106094805 B CN106094805 B CN 106094805B CN 201610590620 A CN201610590620 A CN 201610590620A CN 106094805 B CN106094805 B CN 106094805B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- Automation & Control Theory (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The invention patent relates to a kind of pneumatic force servo system power control effect test platforms, comprising: mechanical structure and electric control system.Mechanical structure includes modularization pneumatic circuit, rolling brake mechanism, mobile mechanism, effect curved-surface structure, support construction, Wiring structure, and electric control system includes data acquisition and procession circuit, force snesor, PC machine etc..The present invention relates to pneumatic force servo systems to constitute closed-loop system circuit by force snesor feedback signal, loads on control algolithm in signal processing circuit board and carries out operation to deviation signal, calculated result is for adjusting cylinder end power output.Mechanical structure realizes cylinder movement in one direction and the deflection of modularization pneumatic mechanism and direction of motion low-angle.The advantages of present invention has integrated level height, compact-sized, reliable performance, can effectively detect the power control effect of pneumatic force servo system.
Description
Technical field
The invention patent belongs to cylinder power output control field in pneumatic control, and being related to one kind can stretch in different cylinders
Pneumatic force servo system in many situations such as contracting amount, Telescopic-cylinder direction and any angle of moving direction and consideration gravity influence
System power control measure of merit platform.
Background technique
Since pneumatic system has at low cost, high output/mass ratio, easily compared to traditional hydraulic, electronics, electrical system
The superiority such as maintenance and simple, the environment resistant pollution of structure, pneumatic servo system has been increasingly used in automatically at present
Change field, and mainly the position of cylinder piston rod is controlled.But since gas compressibility itself is big, rigidity is low, resistance
The influence of the non-linear, Pneumatic Cylinder with Friction that the small characteristic of Buddhist nun and pneumatic system control valve valve port flow etc., so that pneumatic servo
System have it is serious non-linear, so that the control to the degree of precision of pneumatic servo system brings very big difficulty.
To solve the problem, emerge one after another in recent years for the research of pneumatic system control strategy-from simple PID control
To Neural network PID, sliding formwork control, fuzzy control etc..Meanwhile the detection for pneumatic servo system control effect, Zhong Duogao
School laboratory more selects to contain fixed pneumatic component in bread board, to detect to control effect, without more
The influence to control effect such as efficiency gravity causes the engineering application of research achievement to be very restricted.
Summary of the invention
The invention patent designs a kind of pneumatic force servo system power control effect test platform, solves for cylinder force control
Factor inconsiderate full problem when effect processed cannot test very well and power control is tested, substantially increases test platform
Versatility and practicability.
The test platform with pneumatic force servo system power control effect detection function that the present invention designs and develops, wherein
It include: mechanical structure and electric control system；The mechanical structure mainly by modularization pneumatic circuit, rotation and arrestment mechanism,
Mobile mechanism, effect curved-surface structure, support construction, Wiring structure part composition；Modularization pneumatic circuit and rotation and brake
It is connected, rotates connected by carrying out on sliding block with arrestment mechanism and mobile mechanism between structure；Support construction is built by section material frame
It forms, the component of modularization pneumatic circuit, rotation and arrestment mechanism and mobile mechanism's composition is connected in support knot by T-type screw
On structure；Acting on curved-surface structure includes the parts such as effect curved surface, curve support plate, and effect curved-surface structure is fixed on the side of support construction
Face, to guarantee cylinder piston rod along effect normal to a surface direction；Wiring structure realizes that live cabling is beautiful using drag chain
Clean and tidy requirement；The electric control system includes the circuit board with data acquisition and calculation function, Software Simulation Test circle
Face and PC machine.The feedback signal of force snesor, by input control program after acquisition, passes through operation by the A/D of data collecting card
The control voltage of the operation adjustment proportional pressure valve of the circuit board of function acquires simultaneously to realize the constant of cylinder power output
Data and force snesor feedback signal can in the Software Simulation Test interface that PC machine LabVIEW writes real-time display.
Further, screw thread is connected between the modularization pneumatic circuit and rotation and arrestment mechanism.
Further, the rotation is carried out with arrestment mechanism and mobile mechanism by the screw thread on sliding block connected.
Further, the support construction uses aluminum profile.
Another technical solution of the invention is, proposes and a kind of realizes pneumatic force servo system power control effect detection
Method, steps are as follows:
Modularization pneumatic circuit is fixed on to a certain position of mobile mechanism first, and keep cylinder piston rod direction with
The angle of mobile mechanism's guide rail direction is constant.It is supplied to pneumatic circuit, electrical system powers on, and it is defeated to detect the stationary state lower cylinder
The control effect of power output, cylinder piston rod stroke is constant at this time.By the test under the stationary state, aerodynamic force can detecte
The control precision of servo-system.On this basis, the further test for carrying out control system, by adjusting the speed of motor, control
The speed that modularization pneumatic circuit processed is moved along mobile mechanism's guide rail direction realizes cylinder piston rod along given effect curved surface quilt
Compel flexible, system force control precision and response time under tested cylinder piston rod difference shrinkage, process holding cylinder piston
Bar and moving direction angle are constant.Further test is the angle for changing piston rod and moving direction, tests different angles
In the case of control effect and control precision in system.
Compared with prior art, pneumatic force servo system power control effect test platform of the invention and method solve pair
The inconsiderate full problem of factor when cylinder force control effect cannot test very well and power control is tested, substantially increases
The versatility and practicability of test platform.
Detailed description of the invention
Fig. 1 is the main hardware connection figure that the pneumatic force servo system power of the present invention controls test platform；
Fig. 2 is the software and hardware connection figure that the pneumatic force servo system power of the present invention controls test platform.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, provides detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following embodiments.
Please refer to Fig. 1 and Fig. 2, a kind of cylinder power output control effect test platform of pneumatic force servo system, comprising: machine
Tool structurally and electrically control system.Wherein, mechanical structure is mainly by modularization pneumatic circuit 1, rotation and arrestment mechanism 2, movement
Mechanism 3, effect curved-surface structure 4, support construction 5,6 part of Wiring structure composition.Modularization pneumatic circuit 1 and rotation and brake
Screw thread is connected between structure 2, and rotation is carried out with mobile mechanism 3 by the screw thread on sliding block connected with arrestment mechanism 2.Support construction 5
It is built by section material frame, the component that modularization pneumatic circuit 1, rotation are constituted with arrestment mechanism 2 and mobile mechanism 3 passes through T-type
Screw is connected on the support structure 5.Acting on curved-surface structure 4 includes the parts such as effect curved surface, curve support plate, acts on curved-surface structure
4 are fixed on the side of 5 aluminum profile of support construction, to guarantee cylinder piston rod along effect normal to a surface direction.Walk knot
Structure 6 realizes the beautiful and clean requirement of live cabling using drag chain.Electric control system includes having data acquisition and calculation function
Circuit board, Software Simulation Test interface and PC machine.The feedback signal of force snesor passes through acquisition by the A/D of data collecting card
Input control program afterwards adjusts the control voltage of proportional pressure valve by the operation of the circuit board of calculation function, to realize gas
Cylinder power output it is constant, while the data and force snesor feedback signal acquired can be imitative in the software that PC machine LabVIEW writes
Real-time display in true test interface, so that the display of control effect is more obvious.Electric control system and above-mentioned mechanical structure it
Between connection it is as shown in Figure 2.
This system realizes that the method for pneumatic force servo system power control effect detection is as follows:
Modularization pneumatic circuit is fixed on to a certain position of mobile mechanism 3 first, and keeps cylinder piston rod direction
It is constant with the angle of mobile mechanism guide rail direction.It is supplied to pneumatic circuit, electrical system powers on, and detects the stationary state lower cylinder
The control effect of power output, cylinder piston rod stroke is constant at this time.By the test under the stationary state, can detecte pneumatic
The control precision of force servo system.On this basis, the further test for carrying out control system, by adjusting the speed of motor,
The speed that control module pneumatic circuit is moved along mobile mechanism's guide rail direction realizes cylinder piston rod along given effect curved surface
4 are forced to stretch, and system force control precision and response time under tested cylinder piston rod difference shrinkage, which keeps cylinder living
Stopper rod and moving direction angle are constant.Further test is the angle for changing piston rod and moving direction, tests different folders
In the case of angle in system control effect and control precision.
Claims (5)
1. a kind of cylinder power output control effect test platform of pneumatic force servo system characterized by comprising mechanical structure
And electric control system；
The mechanical structure is mainly by modularization pneumatic circuit, rotation and arrestment mechanism, mobile mechanism, effect curved-surface structure, branch
Support structure, Wiring structure part composition；It is connected between modularization pneumatic circuit and rotation and arrestment mechanism, the rotation and braking
Mechanism and mobile mechanism are carried out connected by the screw thread on sliding block；Support construction is built by section material frame, and modularization is pneumatically returned
The component that road, rotation and arrestment mechanism and mobile mechanism are constituted is connected on the support structure by T-type screw；Act on curved-surface structure
Including acting on curved surface, curve support plate, effect curved-surface structure is fixed on the side of support construction, to guarantee cylinder piston rod edge
Effect normal to a surface direction；Wiring structure realizes the beautiful and clean requirement of live cabling using drag chain；
The electric control system includes the circuit board with data acquisition and calculation function, Software Simulation Test interface and PC
Machine.
2. the cylinder power output control effect test platform of pneumatic force servo system as described in claim 1, which is characterized in that
The feedback signal of force snesor, by input control program after acquisition, is acquired by the A/D of data collecting card by the data
Operation with the circuit board of calculation function adjusts the control voltage of proportional pressure valve, to realize the constant of cylinder power output, together
When the data that acquire and force snesor feedback signal can be in the Software Simulation Test interface that PC machine LabVIEW writes in real time
Display.
3. the cylinder power output control effect test platform of pneumatic force servo system as described in claim 1, which is characterized in that
Screw thread is connected between the modularization pneumatic circuit and rotation and arrestment mechanism.
4. the cylinder power output control effect test platform of pneumatic force servo system as described in claim 1, which is characterized in that
The support construction uses aluminum profile.
5. the test method of the cylinder power output control effect test platform of pneumatic force servo system as described in claim 1,
It is characterized by comprising the following steps:
Modularization pneumatic circuit is fixed on to a certain position of mobile mechanism first, and keeps cylinder piston rod direction and movement
The angle of mechanism guide rail direction is constant；
Secondly, supplying to modularization pneumatic circuit, electric control system is powered on, and detects the control of the stationary state lower cylinder power output
Effect processed, cylinder piston rod stroke is constant at this time；By the test under the stationary state, pneumatic force servo system can detecte
Control precision；
On this basis, the further test for carrying out control system, by adjusting the speed of motor, control module pneumatic circuit
The speed moved along mobile mechanism's guide rail direction realizes that cylinder piston rod is forced to stretch along given effect curved surface, tested cylinder
System force control precision and response time, the process keep cylinder piston rod and moving direction angle under piston rod difference shrinkage
It is constant.
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| CN201610590620.4A CN106094805B (en) | 2016-07-26 | 2016-07-26 | A kind of pneumatic force servo system power control effect test platform and method |
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| CN106094805A CN106094805A (en) | 2016-11-09 |
| CN106094805B true CN106094805B (en) | 2019-01-25 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106483991B (en) * | 2016-11-18 | 2023-07-04 | 广东省智能制造研究所 | Force control device |
| CN109856989A (en) * | 2018-11-26 | 2019-06-07 | 广东工业大学 | A kind of pneumatic force servo system emulation modelling method |
| CN115793600B (en) * | 2022-11-15 | 2024-05-14 | 北京精密机电控制设备研究所 | Servo control system test platform and method based on data and model |
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| CN201680810U (en) * | 2010-05-14 | 2010-12-22 | 无锡威锐科智能测控技术有限公司 | Comprehensive testing device for force and displacement |
| CN202033150U (en) * | 2011-05-03 | 2011-11-09 | 界鸿科技股份有限公司 | Pressure detection system with fine tuning and pressure stabilization functions |
| CN102636247A (en) * | 2012-03-28 | 2012-08-15 | 西北工业大学 | Experimental method of surge detecting device of gas compressor |
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|---|---|---|---|---|
| CN201680810U (en) * | 2010-05-14 | 2010-12-22 | 无锡威锐科智能测控技术有限公司 | Comprehensive testing device for force and displacement |
| CN202033150U (en) * | 2011-05-03 | 2011-11-09 | 界鸿科技股份有限公司 | Pressure detection system with fine tuning and pressure stabilization functions |
| CN102636247A (en) * | 2012-03-28 | 2012-08-15 | 西北工业大学 | Experimental method of surge detecting device of gas compressor |
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Inventor after: Qi Pei Inventor after: Wang Wei Inventor after: Huang Shunzhou Inventor after: Wang Li Inventor after: Liang Shisheng Inventor after: Wu Rongzong Inventor before: Zheng Pei Inventor before: Wang Wei Inventor before: Huang Shunzhou Inventor before: Wang Li Inventor before: Liang Shisheng Inventor before: Wu Rongzong |
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