CN106441960A - Modular universal loading test device - Google Patents
Modular universal loading test device Download PDFInfo
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- CN106441960A CN106441960A CN201610391961.9A CN201610391961A CN106441960A CN 106441960 A CN106441960 A CN 106441960A CN 201610391961 A CN201610391961 A CN 201610391961A CN 106441960 A CN106441960 A CN 106441960A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
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Abstract
The invention provides a modular universal loading test device, and relates to a structure test loading device. The objective of the invention is to solve the problems of test body space multi-degree-of-freedom coupling loading and multidimensional force/displacement hybrid control. The modular universal loading test device comprises an upper mesa, a lower mesa, an actuator, a force sensor, a displacement sensor, a mechanical universal hinge, a lower computer controller, a coordinate converter, a mode controller, an upper computer controller, a system integrated controller and a value substructure. The capability of displacement loading of any spatial direction can be realized by adopting a parallel movement mechanism. Multi-degree-of-freedom force and displacement hybrid control of the loading device is realized by adopting a double closed loop control strategy. The modular universal loading test device has large axial loading capacity so that the problem of force control loading of the spatial loading device can be solved, hybrid testing can be performed and complex component loading can be performed through combination of multiple modules.
Description
Technical field
The present invention relates to a kind of modular space load testing machine that can load to space any direction, for large-scale soil
The shock test of wood engineering structure, belongs to earthquake engineering and Structural Engineering field.
Background technology
Under serious extraneous load (macroseism, high wind etc.) effect, engineering structure will produce large deformation or even ftracture
With collapse.It is that current civil engineering is taken precautions against natural calamities the focus of research beyond the linear elasticity stage based on the performance design of otherwise limit state
One of.For realizing this advanced design philosophy, improving assurance to structure catastrophe behavior further, its energy of preventing and reducing natural disasters is improved
Power, depends on the reinforcement of basic research.It is related to theory and the method for the simulation of complex structure mechanical stae, based on modern computing technology
And the high resolution numerical simulation for being developed rapidly is only way, but this must be with practical observation and Physical Experiment test result
It is foundation.And Calculation Anaysis for Tunnel Structure theory is verified by experimentation, develop new mathematical mechanical model, be finally reached raising meter
Calculate precision and improve structure engineering design and then realize the purpose of protection against and mitigation of earthquake disasters target.
With the enhancing of china's overall national strength, the scientific research institutions of various places have successively built some large-scale assay devices, than
Such as huge earthquake simulation vibration plate and the array, pseudo device, large-tonnage static force loading device etc., can meet part soil
Wood engineering test needs.But the reciprocal charger of current static(al) can only realize unidirectional or biaxial stress state mostly, and not
The dynamic effect of earthquake and wind shake can be simulated.Vibration platform apparatus can carry out seismic model experiment, but be limited to the size of block mold,
The constitutive relation of prototype component can not be drawn.Intending power set can carry out the three received strength experiment of large scale test specimen, but be difficult to mould
Intend complicated edge-restraint condition and power hardening effect.Accordingly, it would be desirable to developing, achievable three-dimensional is loaded, to possess multiple degrees of freedom complete
Boundary control ability, the experimental provision of simulation complicated boundary condition.
The universal load testing machine of modular of the present invention adopts Stewart parallel institution, in three-dimensional six-degree of freedom displacement control
On the basis of system, compoundforce-displacement control is introduced, consideration equipment and the coupling of non-linear test body, introduce robustness further
Higher Variable Structure Control algorithm, carries out multivariant decoupling and mixing control model on loading border.Stewart parallel connection
Although mechanism is widely studied and application in fields such as machinery, Aeronautics and Astronautics, ship, automobile, medical apparatus and instruments, will
Stewart platform application is in field of civil engineering, and it is that this project is carried first to realize support structures loading and the simulation of boundary condition
Go out, primarily to research constitutive relation of the civil engineering structure under complex loading conditions, research component or minor structure are tight
Mechanical property and seismic response under lattice boundary condition, therefore the equipment should have the following characteristics that：(1) System for Large-scale Specimen can be carried out
Multidimensional, dynamic constitutive test, possess drawing, the ability such as press, cut, turning round；(2) combination type load-on module, multi-field to realize
Research Requirements；(3) multiple degrees of freedom uneoupled control, this is the key technical problem for carrying out multifreedom controlling.
Compared with large space charger built both at home and abroad, the modularity of the present invention is universal to load charger more
Plus flexibly, multi-platform combined use can build the space weighted platform of complexity.With function phase to single pressure-shear test machine and wallboard
Testing machine is compared, and its function is more comprehensive, achievable Three-dimensional Constitutive experimental study.The modularity of the present invention is universal to be loaded
Carry and put load capability greatly, and quick loading is can achieve, solve the loading speed for being difficult in static(al) or pseudo overcome
Impact, possesses between each degree of freedom, the mixing control model between power and displacement, is to reproduce labyrinth in space-load shape
Power catastrophe overall process under state provides reliable test constitutive relation.
Content of the invention
The invention aims to space multiple degrees of freedom power-displacement mix-loaded that solution prior art is difficult to is asked
Topic.The present invention adopts parallel motion platform mechanism, carries out the normal solution of displacement and power using double-closed-loop control, realizes multiple degrees of freedom and add
Accurate power control in load.
The universal load testing machine of the modular of the present invention include upper table surface 1, following table 2, actuator 3, force transducer 4,
Displacement transducer 5, mechanically gimbaled hinge 6, the next machine controller 7, coordinate converter 8, mode controller 9, supervisory controller 10,
Actuator 6 is connected with upper table surface 1 and following table 2 respectively by mechanically gimbaled hinge 6, and 6 actuator form parallel kinematic mechanism, can
Control upper table surface 1 is moved in space any direction.
The universal load testing machine of the modular sends target control vector u by supervisory controller 10i+1To pattern control
Device processed 9, class switching for its Schema control of the target control vector sum displacement/power under global coordinate system is mixed by mode controller 9
Close object vector dc i+1T (), object vector is converted into echo signal l of actuator by coordinate converter 8c k, by slave computer
Controller 7 drives 6 actuator 3 to load test body, while the force transducer 4 of each actuator and displacement transducer 5
Feedback signal mc k, and the displacement under global coordinate system and force feedback vector Y are converted into by coordinate converter 8R i+1T (), is sent to
Supervisory controller 10, by forming closed loop control more afterwards.
The upper table surface 1 is the loaded planar of universal load testing machine, is connected with test body in test.
The following table 2 is the counter-force part of universal loading experimental apparatus, with laboratory counter force wall or counter-force ground in test
Plate connects.
The displacement of the actuator 3 is measured by displacement transducer 5, and active force is measured by force transducer 4, and its action is by servo
Valve 11 drives.
The bottom machine controller 7 is by internal ring servo controller 12, feedback signal conditioning circuit 13, servo command comparator
14 are constituted, and feedback signal conditioning circuit 13 receives the feedback signal from displacement transducer 5 and force transducer 4, after filtering, puts
Big circuit is nursed one's health after forming conditioning and feeds back signal, servo command comparator 14 by echo signal with after after conditioning, feedback signal compares
Generate comparison signal and internal ring servo controller 12 is sent to, internal ring servo controller 12 adopts PID control, comparison signal is changed
For command signal, drive ram 3 is moved, and the next machine controller has 6 passages, and each passage controls 1 actuator 3.
The coordinate converter 8 includes A/D conversion module 15, D/A conversion module 16 and transformation matrix of coordinates computing module
17, the displacement of 6 actuator and power analogue signal are converted into digital signal after A/D conversion module 15, are become by coordinate
Matrix calculus module 17 is changed, the displacement under 1 global coordinate system of upper table surface and power is obtained, and is transmitted to supervisory controller
10, another function of coordinate converter 8 is the digital object signal of reception pattern controller 9, by transformation matrix of coordinates meter
Calculating module 17 carries out being inversely transformed into the desired value of 6 actuator, is converted to analogue signal by D/A conversion module 16, and transmits
To the next machine controller 7 as its echo signal.
The mode controller 9 solves module 18, power displacement modular converter 19 with perturbation matrices, and perturbation matrices solve mould
Block 18 automatically generates test body stiffness matrix using perturbation method after test body connection, and power displacement modular converter 19 is according to upper
Associated target value is converted into power from displacement or is converted into displacement from power by the echo signal of position machine controller 10 and mode signal,
And it is sent to coordinate converter 8.
The supervisory controller 10 includes desktop computer 20, digital command comparator 21, multiple-input and multiple-output robust control
Device 22 and Kalman filter 23, digital command comparator 21 receives the power of the global coordinate system from coordinate converter 8 and position
Shifting signal, by being compared with overall coordinate desired signal after Kalman filter 23, generates comparison signal, and comparison signal leads to
Echo signal is generated after crossing multiple-input and multiple-output robust controller 22 and mode signal is sent to mode controller 9, digital command
Comparator 21, multiple-input and multiple-output robust controller 22 and Kalman filter 23 are installed in desktop computer 20, desktop computer 20
There is the interface for interacting with system integration controller 24.
The system integration controller 24 can be interacted with multiple stage supervisory controller 10, and control multiple stage modular is universal
Charger carries out labyrinth test, also can be with 25 exchange data of numerical value minor structure.
The present invention is had the effect that compared with existing apparatus：Axially loaded ability is big, horizontal direction respectively to the basic same sex,
Load capability is approximate；Actuator specification is identical to be easy to safeguard；Respectively can be according to angle adjustment to load capability allocation proportion, Ke Yishi
The target that in existing structural test field, the accurate boundary condition of test body is loaded, can coordinate to load with numerical value minor structure, Ke Yiling
The multiple modular space chargers of configuration of living carry out the loading of sophisticated testing body.
Invention operation principle
Supervisory controller 10 includes multiple-input and multiple-output robust control module 22, and input quantity and the output number of channel are many
In 6, control matrix for the square formation of 6x6, its Diagonal Pivoting adoption rate integration control parameter is constituted, and sliding mode may also be employed
Control.When using Variable Structure Control, can preferably control the loading accuracy of non-linear test body, now, need to be based on control
The state space matrices design of object (system that mode controller 9, coordinate converter 8, actuator 3 and test body constitute) is slided
Modal controller, based on global coordinate system displacement and force feedback vector YR i+1(t) and target control vector ui+1Design Kalman's filter
Ripple device 23 recognize multi-C vector quantity of state, the slip by sliding mode on slide surface come make multi-input multi-output system to examination
Test that body is non-linear to realize preferable uneoupled control.
8 main purpose of coordinate converter be exert oneself to realize global coordinate system/displacement is multiple with actuator hinge space
The actuator stroke order l of actuatorc kBetween geometrical correspondence.By universal for modular load testing machine upper mounting plate with
The junction point of test body is used as Loading Control point, and on control point, the cartesian coordinate system of loading direction is defined as global coordinate system,
The axial stretching of each actuator is defined as actuator hinge space.From the perspective of from kinematics of machinery angle, 6 actuator will be obtained and stretched
Contracting amount order lc k, it is the inverse kinematic of the system；And pass through actuator displacement and anti-force feedback signal mc kObtain Loading Control
Displacement and power of the point under global coordinate system, are the forward kinematics solutions of the system.
Description of the drawings
Fig. 1 is that the universal load testing machine of modular of the present invention constitutes schematic diagram；
Fig. 2 is the universal charger control flow chart of modular of the present invention；
Fig. 3 is that present invention bottom machine controller 7 constitutes schematic diagram with actuator 3；
Fig. 4 is that coordinate converter of the present invention 8 constitutes schematic diagram；
Fig. 5 is that mode controller of the present invention 9 constitutes schematic diagram；
Fig. 6 is that supervisory controller of the present invention 10 constitutes schematic diagram；
Fig. 7 is that the universal charger of two individual module formula of embodiment carries out earthquake simulation load test block diagram；
Fig. 8 is that the universal charger of 3 two modulars of embodiment carries out earthquake simulation load test block diagram；
Fig. 9 is that the universal charger of two modulars of example IV and numerical value minor structure coordinate load test block diagram.
In figure, 1- upper table surface, 2- following table, 3- actuator, 4- force transducer, 5- displacement transducer, the mechanically gimbaled hinge of 6-,
7- bottom machine controller, 8- coordinate converter, 9- mode controller, 10- supervisory controller, 11- servo valve, 12- internal ring are watched
Take controller, 13- feedback signal conditioning circuit, 14- servo command comparator, 15-A/D conversion module, 16-D/A conversion module,
17- transformation matrix of coordinates computing module, 18- perturbation matrices solve module, 19- power displacement modular converter, 20- desktop computer, 21- number
Word command comparator, 22- multiple-input and multiple-output robust controller, 23- Kalman filter, 24- system integration controller, 25-
Numerical value minor structure.
Specific embodiment
Embodiment one：
The specific embodiment of the present invention is described in conjunction with accompanying drawing 1- accompanying drawing 6, the modular of present embodiment is universal to load examination
Experiment device can achieve multidirectional coupling condition and exert oneself/displacement mix-loaded experimental condition：
As accompanying drawing 1, between upper table surface 1 and following table 2, according to the mode of parallel motion platform, 6 actuator 3 are installed, per
Platform actuator 3 is provided with a force transducer 4 and a displacement transducer 5, and by two mechanically gimbaled hinges 6 and upper table surface 1
It is connected with following table 2, actuator 3 is driven by servo valve 11, such as accompanying drawing 3.Upper table surface 1 is that the loading being connected with test body is put down
Platform, and the control point that is tested.Following table has enough rigidity and intensity, by side wall bolt hole and laboratory counter-force
Floor or counter force wall are connected.
The universal load testing machine of modular has the closed loop control of two levels, such as accompanying drawing 2, and internal ring controls by slave computer
Controller 7 is realized, and carries out Bit andits control using PID control to separate unit actuator 3.Outer shroud controls by coordinate converter 8, pattern control
Device processed 9 and supervisory controller 10 are constituted, and outer ring controller can achieve 6DOF of 1 load(ing) point of upper table surface in global coordinate system
Power/displacement mixing control, its control model is realized by mode controller 9, and empty from global coordinate system to actuator hinge
Between conversion completed by coordinate converter 8.While the force transducer 4 of each actuator and displacement transducer 5 feed back signal by sitting
Mark transducer 8 is converted into the displacement under global coordinate system and force feedback vector, is sent to supervisory controller 10, forms closed loop control
System.
Accompanying drawing 3 is the composition schematic diagram of the next machine controller 7, by internal ring servo controller 12, feedback signal conditioning circuit
13rd, servo command comparator 14 is constituted, and feedback signal conditioning circuit 13 receives from the anti-of displacement transducer 5 and force transducer 4
Feedback signal, after filtering, amplifying circuit nurse one's health after forming conditioning and feed back signal, servo command comparator 14 is by echo signal and tune
After reason, feedback signal generates comparison signal more afterwards and is sent to internal ring servo controller 12, and internal ring servo controller 12 adopts PID
Control, comparison signal is converted to command signal, and drive ram 3 is moved, and the next machine controller has 6 passages, and each leads to
Road controls 1 actuator 3.
Accompanying drawing 4 is the composition schematic diagram of coordinate converter 8, including A/D conversion module 15, D/A conversion module 16 and coordinate
Transformation matrix computing module 17, the displacement of 6 actuator and power analogue signal are converted into numeral after A/D conversion module 15
Signal, by transformation matrix of coordinates computing module 17, obtains the displacement under 1 global coordinate system of upper table surface and power, and is transmitted
To supervisory controller 10, another function of coordinate converter 8 is the digital object signal of reception pattern controller 9, passes through
Transformation matrix of coordinates computing module 17 carries out being inversely transformed into the desired value of 6 actuator, is converted to mould by D/A conversion module 16
Intending signal, and the next machine controller 7 is sent to as its echo signal.
Accompanying drawing 5 is the composition schematic diagram of mode controller 9, solves module 18, power displacement modular converter with perturbation matrices
19, perturbation matrices solve module 18 after test body connection, automatically generate test body stiffness matrix, power displacement using perturbation method
Modular converter 19 according to the echo signal of supervisory controller 10 and mode signal by associated target value from displacement be converted into power or
Person is converted into displacement from power, and is sent to coordinate converter 8.
Accompanying drawing 6 is the composition schematic diagram of supervisory controller 10, including desktop computer 20, digital command comparator 21, how defeated
Enter multi output robust controller 22 and Kalman filter 23, digital command comparator 21 is received from the whole of coordinate converter 8
The power of body coordinate system and displacement signal, by being compared with overall coordinate desired signal after Kalman filter 23, generate ratio
Compared with signal, comparison signal is sent to pattern by generation echo signal and mode signal after multiple-input and multiple-output robust controller 22
Controller 9, digital command comparator 21, multiple-input and multiple-output robust controller 22 and Kalman filter 23 are installed in desk-top
In machine 20, desktop computer 20 has the interface for interacting with system integration controller 24.System integration controller 24 is can control in multiple stage
Position machine controller 10 coordinates loading, to realize more complicated structural test.
Embodiment two：
The specific embodiment of the present invention is described, the universal load testing machine of the modular of present embodiment in conjunction with accompanying drawing 7
Can achieve the load test condition of seismic response under multidirectional coupling condition：
In the present embodiment, input seismic wave undertaken by system integration controller 24, solves the task of Structural Dynamic Equation, its
The power of generation and displacement target order pass through network transmission to supervisory controller 10, by 10 control module formula of supervisory controller
Universal load testing machine is realized accurately loading, and the counter-force at obtained 1 control point of upper table surface is fed back to host computer control
Device processed 10, and by network transmission to system integration controller 24, and then the solution of next step kinetic equation, the process can be carried out
Define the closed loop control of third level.
Remaining is with embodiment together.
Embodiment three：
The specific embodiment of the present invention is described, the universal load testing machine of the modular of present embodiment in conjunction with accompanying drawing 8
Achievable multiple linkage, and carry out the load test of seismic response：
In the present embodiment, input seismic wave undertaken by system integration controller 24, solves the task of Structural Dynamic Equation, its
The power of generation and displacement target order by network transmission to multiple stage supervisory controller 10, by 10 points of multiple stage supervisory controller
The universal load testing machine of multiple modulars is not controlled to realize more complicated boundary condition, 1 control point of modules upper table surface
Counter-force feed back to supervisory controller 10, and by network transmission to system integration controller 24, and then next step can be carried out
The solution of kinetic equation, the process defines the closed loop control of third level.By controlling the universal loading experiment of multiple stage modular
Device, it is achieved that the boundary condition imitation of more labyrinth system.
Remaining is with embodiment together.
Embodiment three：
The specific embodiment of the present invention is described, the universal load testing machine of the modular of present embodiment in conjunction with accompanying drawing 9
Achievable multiple linkage carries out sub-structural test, and interacts with numerical value minor structure and realize integrally-built seismic response mould
Intend：
In the present embodiment, the function of coordinator undertaken by system integration controller 24, is solving the same of Structural Dynamic Equation
When, meet border coordination and the equilibrium condition of multiple minor structures, to realize the simulation of integrally-built dynamic response.Overall structure
Kinetic equation is solved by system integration controller, and its power for producing and displacement target order are by network transmission to multiple stage host computer
Controller 10 and numerical value minor structure 25, control the universal load testing machine of multiple modulars respectively by multiple stage supervisory controller 10
More complicated boundary condition is realized, the counter-force at 1 control point of modules upper table surface feeds back to supervisory controller 10, and passes through
Network transmission is to system integration controller 24, while the border counter-force that numerical value minor structure 25 is produced is also by network-feedback to system
Integrated manipulator 24, can so carry out the solution of next step kinetic equation, and the process defines the closed loop control of third level.Logical
Cross the universal loading experimental apparatus of coordination control multiple stage modular and numerical value minor structure, it is achieved that the seismic response of large and complex structure
Test.
Remaining is with embodiment together.
According to the feature that structural test is loaded, herein with the modular space charger reality of compoundforce-displacement control
Power/displacement mixing the controlled loading of existing three-dimensional six degree of freedom.External space charger in the country's mainly adopts Bit andits control at present, adopts
Firmly control considerably less, realize the power of three-dimensional six degree of freedom/displacement mixing control less；Meanwhile, using double-loop control strategy
Power/displacement mixing controlled loading to realize three-dimensional six degree of freedom also has no that anyone or tissue are proposed or realized.
Embodiment described above is only that the preferred embodiment of the present invention is described, not the model to the present invention
Enclose and be defined, on the premise of without departing from design spirit of the present invention, technical side of the those of ordinary skill in the art to the present invention
Various modifications and improvement that case is made, all should fall in the protection domain of claims of the present invention determination.
Claims (10)
1. the universal load testing machine of a kind of modular, including upper table surface (1), following table (2), actuator (3), force transducer
(4), displacement transducer (5), mechanically gimbaled hinge (6), the next machine controller (7), coordinate converter (8), mode controller (9),
Supervisory controller (10), all includes a force transducer (4) and a displacement transducer (5), and passes through per platform actuator (3)
Two mechanically gimbaled hinge (6) are connected with upper table surface (1) and following table (2), and the next machine controller (7) are realized to separate unit actuator
(3) Bit andits control is carried out, and coordinate converter (8), mode controller (9) and supervisory controller (10) constitute outer ring controller,
Realize 6DOF power/displacement mixing control of upper table surface (1) load(ing) point in global coordinate system, it is characterised in that：6 actuator
Parallel kinematic mechanism is formed, controllable upper table surface (1) is moved in space any direction.
2. the universal load testing machine of modular according to claim 1, it is characterised in that sent out by supervisory controller (10)
Go out target control vector ui+1To mode controller (9), mode controller (9) is by its Schema control classification of target control vector sum
Displacement/power compound target vector the d being converted under global coordinate systemc i+1T object vector is turned by () by coordinate converter (8)
Turn to echo signal l of actuatorc k, drive 6 actuator (3) to load test body by the next machine controller (7), while
The force transducer (4) of each actuator and displacement transducer (5) feedback signal mc k, and entirety is converted into by coordinate converter (8)
Displacement under coordinate system and force feedback vector YR i+1T (), is sent to supervisory controller (10), by forming closed loop control more afterwards
System.
3. the universal load testing machine of modular according to claim 1, it is characterised in that upper table surface (1) be
The loaded planar of assay device, is connected with test body in test.
4. the universal load testing machine of modular according to claim 1, it is characterised in that following table (2) be
The counter-force part of experimental provision, is connected with laboratory counter force wall or counter-force floor in test.
5. the universal load testing machine of modular according to claim 1, it is characterised in that the displacement of actuator (3) is by position
Displacement sensor (5) is measured, and active force is measured by force transducer (4), and its action is driven by servo valve (11).
6. the universal load testing machine of modular according to claim 1, it is characterised in that the next machine controller (7) are by interior
Ring servo controller (12), feedback signal conditioning circuit (13), servo command comparator (14) are constituted, feedback signal conditioning circuit
(13) receive from displacement transducer (5) and the feedback signal of force transducer (4), after filtering, amplifying circuit nurses one's health to form tune
After reason feed back signal, servo command comparator (14) by echo signal and after conditioning feedback signal compare afterwards generate comparison signal send out
Internal ring servo controller (12) is given, internal ring servo controller (12) adopts PID control, comparison signal is converted to order letter
Number, drive ram (3) is moved, and the next machine controller has 6 passages, and each passage controls 1 actuator (3).
7. the universal load testing machine of modular according to claim 1, it is characterised in that coordinate converter (8) includes A/D
Conversion module (15), D/A conversion module (16) and transformation matrix of coordinates computing module (17), by the displacement of 6 actuator and power
Analogue signal is converted into digital signal after A/D conversion module (15), by transformation matrix of coordinates computing module (17), obtains
Displacement and power under upper table surface (1) global coordinate system, and supervisory controller (10) is transmitted to, coordinate converter (8)
Another function is the digital object signal of reception pattern controller (9), is carried out by transformation matrix of coordinates computing module (17)
The desired value of 6 actuator is inversely transformed into, analogue signal is converted to by D/A conversion module (16), and sends slave computer control to
Device (7) processed are used as its echo signal.
8. the universal load testing machine of modular according to claim 1, it is characterised in that mode controller (9) has to be taken the photograph
Dynamic Matrix Solving module (18), power displacement modular converter (19), perturbation matrices solve module (18) after test body connection, adopt
Perturbation method automatically generates test body stiffness matrix, and power displacement modular converter (19) is believed according to the target of supervisory controller (10)
Number and mode signal associated target value is converted into power from displacement or is converted into displacement from power, and be sent to coordinate converter
(8).
9. the universal load testing machine of modular according to claim 1, it is characterised in that supervisory controller (10) includes
Desktop computer (20), digital command comparator (21), multiple-input and multiple-output robust controller (22) and Kalman filter (23), number
Word command comparator (21) receives the power of the global coordinate system from coordinate converter (8) and displacement signal, is filtered by Kalman
Ripple device (23) is compared with overall coordinate desired signal afterwards, generates comparison signal, and comparison signal passes through multiple-input and multiple-output Shandong
Stick controller (22) generates echo signal afterwards and mode signal is sent to mode controller (9), digital command comparator (21), many
Input multi output robust controller (22) and Kalman filter (23) are installed in desktop computer (20), and desktop computer (20) has
The interface for interacting with system integration controller (24).
10. the universal load testing machine of modular according to claim 1, it is characterised in that system integration controller (24)
Can interact with multiple stage supervisory controller (10), the universal charger of control multiple stage modular carries out labyrinth test,
Also can be with numerical value minor structure (25) exchange data.
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| CN108241289A (en) * | 2017-11-21 | 2018-07-03 | 华西能源工程有限公司 | A kind of compoundforce-displacement control method for Three Degree Of Freedom loading system |
| CN109374271A (en) * | 2018-09-21 | 2019-02-22 | 武汉理工大学 | A kind of loading control method of structural test |
| CN111366387A (en) * | 2020-02-24 | 2020-07-03 | 清华大学 | Loading device and control method thereof |
| CN113970405A (en) * | 2021-11-15 | 2022-01-25 | 珠海格力电器股份有限公司 | Multi-dimensional force sensor calibration device and calibration method |
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| CN108241289A (en) * | 2017-11-21 | 2018-07-03 | 华西能源工程有限公司 | A kind of compoundforce-displacement control method for Three Degree Of Freedom loading system |
| CN108241289B (en) * | 2017-11-21 | 2020-10-30 | 华西能源工程有限公司 | Force-displacement hybrid control method for three-degree-of-freedom loading system |
| CN109374271A (en) * | 2018-09-21 | 2019-02-22 | 武汉理工大学 | A kind of loading control method of structural test |
| CN109374271B (en) * | 2018-09-21 | 2019-10-08 | 武汉理工大学 | A kind of loading control method of structural test |
| CN111366387A (en) * | 2020-02-24 | 2020-07-03 | 清华大学 | Loading device and control method thereof |
| CN113970405A (en) * | 2021-11-15 | 2022-01-25 | 珠海格力电器股份有限公司 | Multi-dimensional force sensor calibration device and calibration method |
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