CN106441960B - The universal load testing machine of modular - Google Patents

The universal load testing machine of modular Download PDF

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Publication number
CN106441960B
CN106441960B CN201610391961.9A CN201610391961A CN106441960B CN 106441960 B CN106441960 B CN 106441960B CN 201610391961 A CN201610391961 A CN 201610391961A CN 106441960 B CN106441960 B CN 106441960B
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controller
displacement
signal
actuator
control
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CN106441960A (en
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王涛
周惠蒙
李梦宁
滕睿
李海洋
高生
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Beijing Gulitongchuang Engineering Technology Co Ltd
Institute of Engineering Mechanics China Earthquake Administration
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Beijing Gulitongchuang Engineering Technology Co Ltd
Institute of Engineering Mechanics China Earthquake Administration
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00Subject matter not provided for in other groups of this subclass

Abstract

The universal load testing machine of modular is related to a kind of structural test loading device.The problem of present invention aim to address test body space multiple degrees of freedom coupling load and multi-dimensional force/displacement mixing controls.The present invention includes upper table surface, following table, actuator, force snesor, displacement sensor, mechanically gimbaled hinge, the next machine controller, coordinate converter, mode controller, supervisory controller, system integration controller, numerical value minor structure.The present invention realizes the ability of the displacement load of arbitrary direction in space using parallel kinematic mechanism, the mixing control of loading device multiple degrees of freedom power and displacement is realized using double-loop control strategy, the axially loaded ability of the present invention is big, it can solve space loading device power control load problem, it can be mixed test, and multimode can be combined, complex component is loaded.

Description

The universal load testing machine of modular
Technical field
The present invention relates to a kind of modular space load testing machines that can be loaded to space any direction, for large-scale soil The shock test of wood engineering structure, belongs to earthquake engineering and structural engineering field.
Background technique
In the case where serious extraneous load (macroseism, high wind etc.) acts on, engineering structure will generate large deformation or even crack With collapse.The performance design based on otherwise limit state beyond the linear elasticity stage is that current civil engineering is taken precautions against natural calamities the hot spot of research One of.To realize this advanced design philosophy, further increasing the assurance to structure catastrophe behavior, its energy of preventing and reducing natural disasters is improved Power depends on the reinforcement of basic research.The theory and method for the mechanical stae simulation that is related to that structure is complicated, is based on modern computing technology And the high resolution numerical simulation for being able to rapidly develop is only way, but this must be with practical observation and Physical Experiment test result For foundation.And Calculation Anaysis for Tunnel Structure theory is verified by experimental study, develop new mathematical mechanical model, is finally reached raising meter It calculates precision and improves 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 regions have successively built the experimental rig of some large sizes, than Such as huge earthquake simulation vibration plate and the array, pseudo device, large-tonnage static force loading device can satisfy part soil Wood engineering test needs.But the reciprocal loading device of current static(al) can only realize one-way or bi-directional stress 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 overall model, It cannot obtain the constitutive relation of prototype component.Quasi- power device 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.Therefore, it is necessary to develop, the load of achievable three-dimensional, to have multiple degrees of freedom complete Boundary Control ability, the experimental provision for simulating complicated boundary condition.
The universal load testing machine of modular of the present invention uses Stewart parallel institution, in three-dimensional six-degree of freedom displacement control On the basis of system, compoundforce-displacement control is introduced, further considers the coupling of equipment and non-linear test body, introduces robustness Stronger Variable Structure Control algorithm carries out multivariant decoupling and mixing control model on load boundary.Stewart is in parallel It, will although mechanism is widely studied and applies in fields such as machinery, Aeronautics and Astronautics, ship, automobile, medical instruments Stewart platform is applied to field of civil engineering, realizes support structures load and the simulation of boundary condition is that this project mentions for the first time Out, primarily to constitutive relation of the research civil engineering structure under complex loading conditions, studies component or minor structure tight Mechanical property and seismic response under lattice boundary condition, therefore the equipment should have the following characteristics that (1) can carry out System for Large-scale Specimen Multidimensional, dynamic constitutive test, the abilities such as have drawing, press, cut, turning round;(2) combined type loading module, it is multi-field to realize Research Requirements;(3) multiple degrees of freedom decoupling control, this is the key technical problem for carrying out multifreedom controlling.
Compared with large space loading device built both at home and abroad, the universal load loading device of modularization of the invention is more Add flexibly, multi-platform combined use can construct complicated space weighted platform.Opposite with function single pressure-shear test machine and wallboard Testing machine is compared, and function is more comprehensively, it can be achieved that Three-dimensional Constitutive experimental study.The universal load of modularization of the invention adds It carries that set load capability big, and can realize quick load, solve to be difficult to the loading speed overcome in static(al) or pseudo It influences, has the mixing control model between each freedom degree, between power and displacement, to reproduce labyrinth in space-load shape Power catastrophe overall process under state provides reliable test constitutive relation.
Summary of the invention
The space multiple degrees of freedom power-displacement mix-loaded being difficult to realize the purpose of the present invention is to solve the prior art is asked Topic.The present invention uses parallel motion platform mechanism, and the normal solution of displacement and power is carried out using double-closed-loop control, realizes that multiple degrees of freedom adds Accurate power control in load.
The universal load testing machine of modular of the invention include upper table surface 1, following table 2, actuator 3, force snesor 4, Displacement sensor 5, mechanically gimbaled hinge 6, the next machine controller 7, coordinate converter 8, mode controller 9, supervisory controller 10, Actuator 6 is separately connected by mechanically gimbaled hinge 6 with upper table surface 1 and following table 2, and 6 actuator form parallel kinematic mechanism, can Upper table surface 1 is controlled to move in space any direction.
The universal load testing machine of modular issues target control vector u by supervisory controller 10i+1To mode control Device 9 processed, mode controller 9 mix the class switching displacement/power under global coordinate system of its scheme control of target control vector sum Close object vector dc i+1(t), object vector is converted to by coordinate converter 8 the echo signal l of actuatorc k, by slave computer Controller 7 drives 6 actuator 3 to load test body, while the force snesor 4 and displacement sensor 5 of each actuator Feedback signal mc k, and it is converted by coordinate converter 8 displacement and force feedback vector Y under global coordinate systemR i+1(t), it is sent to Supervisory controller 10 forms closed-loop control by comparing rear.
The upper table surface 1 is the loaded planar of universal load testing machine, is connect in test with test body.
The following table 2 is the counter-force component of universal loading experimental apparatus, in test with laboratory counter force wall or counter-force Plate connection.
The displacement of the actuator 3 is measured by displacement sensor 5, and active force is measured by force snesor 4, is acted by servo Valve 11 drives.
The bottom machine controller 7 is by inner 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 sensor 5 and force snesor 4, by filtering, putting Big circuit improves to form conditioning after feedback signal, servo command comparator 14 by echo signal compared with feedback signal after improving after It generates comparison signal and is sent to inner ring servo controller 12, inner ring servo controller 12 uses PID control, comparison signal is converted For command signal, drive ram 3 is moved, and the next machine controller has 6 channels, and each channel 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, digital signal is converted after A/D conversion module 15 by the displacement of 6 actuator and power analog signal, is become by coordinate Matrix computing module 17 is changed, obtains the displacement and power under 1 global coordinate system of upper table surface, and be 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 meter It calculates module 17 and carries out the target value for being inversely transformed into 6 actuator, analog signal is converted to by D/A conversion module 16, and transmit Its echo signal is used as to the next machine controller 7.
There are the mode controller 9 perturbation matrices to solve module 18, power displacement conversion module 19, and perturbation matrices solve mould Block 18 automatically generates test body stiffness matrix after test body connection, using perturbation method, and power is displaced conversion module 19 according to upper The echo signal and mode signal of position machine controller 10 convert power from displacement for associated target value or are converted into displacement from power, 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 receive power and the position of the global coordinate system from coordinate converter 8 Shifting signal generates comparison signal, comparison signal is logical by being compared after Kalman filter 23 with whole coordinate desired signal 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 With the interface interacted with system integration controller 24.
The system integration controller 24 can be interacted with more supervisory controllers 10, and more modulars of control are universal Loading device carries out labyrinth test, can also exchange data with numerical value minor structure 25.
The present invention has the effect that axially loaded ability is big, horizontal direction is respectively to the basic same sex compared with the prior device, Load capability is approximate;Actuator specification is identical convenient for safeguarding;It can respectively be adjusted to load capability allocation proportion according to angle, Ke Yishi The target of the accurate boundary condition load of test body, can coordinate to load, Ke Yiling with numerical value minor structure in existing structural test field The load living for configuring multiple modular space loading devices and carrying out sophisticated testing body.
Invention working principle
Supervisory controller 10 includes multiple-input and multiple-output robust control module 22, and input quantity and the output quantity number of channel are many In 6, the square matrix that control matrix is 6x6, Diagonal Pivoting is constituted using proportional plus integral control parameter, and sliding mode can also be used Control.When using Variable Structure Control, the loading accuracy of non-linear test body can be preferably controlled, at this point, need to be based on control The state space matrices of object (system that mode controller 9, coordinate converter 8, actuator 3 and test body form) design sliding 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 Wave device 23 identifies the quantity of state of multi-C vector, makes multi-input multi-output system to examination by sliding of the sliding mode on slide surface Test the non-linear preferable decoupling control of realization of body.
8 main purpose of coordinate converter is to realize that it is multiple with actuator hinge space that global coordinate system is exerted oneself/is displaced The actuator stroke order l of actuatorc kBetween geometrical correspondence.By the universal load testing machine upper mounting plate of modular with The tie point of test body is as control point is loaded, and the cartesian coordinate system of loading direction is defined as global coordinate system on control point, The axial stretching of each actuator is defined as actuator hinge space.From the perspective of from kinematics of machinery angle, to obtain 6 actuator and stretch Contracting amount order lc k, it is the inverse kinematic of the system;And pass through actuator displacement and counter-force feedback signal mc kObtain load control Displacement and power of the point under global coordinate system, are the forward kinematics solutions of this system.
Detailed description of the invention
Fig. 1 is that the universal load testing machine of modular of the present invention constitutes schematic diagram;
Fig. 2 is the universal loading device control flow chart of modular of the present invention;
Fig. 3 is the next machine controller 7 of the invention and the composition schematic diagram of actuator 3;
Fig. 4 is that coordinate converter 8 of the present invention constitutes schematic diagram;
Fig. 5 is that mode controller 9 of the present invention constitutes schematic diagram;
Fig. 6 is that supervisory controller 10 of the present invention constitutes schematic diagram;
Fig. 7 is that the universal loading device of two individual module formula of embodiment carries out earthquake simulation load test block diagram;
Fig. 8 is that the universal loading device of 3 two modulars of embodiment carries out earthquake simulation load test block diagram;
Fig. 9 is that the universal loading device of two modulars of example IV and numerical value minor structure coordinate load test block diagram.
In figure, the mechanically gimbaled hinge of 1- upper table surface, 2- following table, 3- actuator, 4- force snesor, 5- displacement sensor, 6-, The bottom 7- machine controller, 8- coordinate converter, 9- mode controller, 10- supervisory controller, 11- servo valve, 12- inner 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 is displaced conversion module, 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:
Illustrate a specific embodiment of the invention, the universal load examination of the modular of present embodiment in conjunction with attached drawing 1- attached drawing 6 Experiment device can realize that multidirectional coupling condition is exerted oneself/be displaced mix-loaded experimental condition:
Such as attached drawing 1,6 actuator 3 are installed between upper table surface 1 and following table 2 in the way of parallel motion platform, often Platform actuator 3 is equipped with a force snesor 4 and a displacement sensor 5, and passes through 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 attached drawing 3.Upper table surface 1 is that the load connecting with test body is put down Platform, and the control point tested.Following table has enough stiffness and strength, passes through side wall bolt hole and laboratory counter-force Floor or counter force wall are connected.
The universal load testing machine tool of modular is there are two the closed-loop control of level, and such as attached drawing 2, inner loop control is by slave computer Controller 7 is realized, carries out Bit andits control to separate unit actuator 3 using PID control.Outer loop control is by coordinate converter 8, mode control Device 9 and supervisory controller 10 processed are constituted, and outer ring controller can realize 1 load(ing) point of upper table surface in the 6DOF of global coordinate system The mixing control of power/displacement, control model is realized by mode controller 9, and empty from global coordinate system to actuator hinge Between transformation completed by coordinate converter 8.The force snesor 4 of each actuator and 5 feedback signal of displacement sensor are by sitting simultaneously Mark converter 8 is converted into displacement and force feedback vector under global coordinate system, is sent to supervisory controller 10, forms closed loop control System.
Attached drawing 3 is the composition schematic diagram of the next machine controller 7, by inner ring servo controller 12, feedback signal conditioning circuit 13, servo command comparator 14 is constituted, and feedback signal conditioning circuit 13 receives anti-from displacement sensor 5 and force snesor 4 Feedback signal, the feedback signal after filtering, amplifying circuit improve and to form conditioning, servo command comparator 14 is by echo signal and adjusts Feedback signal generates comparison signal more afterwards and is sent to inner ring servo controller 12 after reason, and inner ring servo controller 12 uses PID Comparison signal is converted to command signal by control, and drive ram 3 moves, and the next machine controller has 6 channels, Mei Getong Road controls 1 actuator 3.
Attached 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 converts number after A/D conversion module 15 for the displacement of 6 actuator and power analog signal Signal obtains the displacement and power under 1 global coordinate system of upper table surface by transformation matrix of coordinates computing module 17, and is transmitted To supervisory controller 10, another function of coordinate converter 8 is the digital object signal of reception pattern controller 9, is passed through Transformation matrix of coordinates computing module 17 carries out the target value for being inversely transformed into 6 actuator, is converted to mould by D/A conversion module 16 Quasi- signal, and send the next machine controller 7 to and be used as its echo signal.
Attached drawing 5 is the composition schematic diagram of mode controller 9, and there are perturbation matrices to solve module 18, power displacement conversion module 19, perturbation matrices solve module 18 after test body connection, automatically generate test body stiffness matrix, power displacement using perturbation method Conversion module 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.
Attached 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 and displacement signal of body coordinate system generate ratio by being compared after Kalman filter 23 with whole coordinate desired signal Compared with signal, comparison signal is sent to mode 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 interacted with system integration controller 24.System integration controller 24 can control on more platforms Position machine controller 10 carries out coordination load, to realize more complicated structural test.
Embodiment two:
Illustrate a specific embodiment of the invention, the universal load testing machine of the modular of present embodiment in conjunction with attached drawing 7 The load test condition of seismic response under multidirectional coupling condition can be achieved:
System integration controller 24 has undertaken input seismic wave in the present embodiment, solves the task of Structural Dynamic Equation, 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 realizes accurately load, and the counter-force at obtained 1 control point of upper table surface is fed back to host computer control Device 10 processed, and by network transmission to system integration controller 24, and then the solution of next step kinetic equation, the process can be carried out Form the closed-loop control of third level.
Remaining is together with embodiment.
Embodiment three:
Illustrate a specific embodiment of the invention, the universal load testing machine of the modular of present embodiment in conjunction with attached drawing 8 Multiple linkage can be achieved, and carry out the load test of seismic response:
System integration controller 24 has undertaken input seismic wave in the present embodiment, solves the task of Structural Dynamic Equation, The power of generation and displacement target order pass through network transmission to more supervisory controllers 10, and You Duotai supervisory controller 10 divides The universal load testing machine of multiple modulars is not controlled realizes 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 can carry out in next step The solution of kinetic equation, the process form the closed-loop control of third level.By controlling the more universal loading experiments of modular Device realizes the boundary condition imitation of more labyrinth system.
Remaining is together with embodiment.
Embodiment three:
Illustrate a specific embodiment of the invention, the universal load testing machine of the modular of present embodiment in conjunction with attached drawing 9 Multiple linkage can be achieved and carry out sub-structural test, and interacted with numerical value minor structure and realize integrally-built seismic response mould It is quasi-:
System integration controller 24 has undertaken the function of coordinator in the present embodiment, is solving the same of Structural Dynamic Equation When, meet the border coordination and equilibrium condition of multiple minor structures, to realize integrally-built dynamic response simulation.Overall structure is dynamic Power equation is solved by system integration controller, and the power generated and displacement target order pass through network transmission to more host computer controls Device 10 processed and numerical value minor structure 25, it is real that You Duotai supervisory controller 10 controls the universal load testing machine of multiple modulars respectively The counter-force of now more complicated boundary condition, 1 control point of modules upper table surface feeds back to supervisory controller 10, and passes through net Network is transferred to system integration controller 24, while the boundary counter-force that numerical value minor structure 25 generates gives system collection also by network-feedback At controller 24, the solution of next step kinetic equation can be carried out in this way, which forms the closed-loop control of third level.Pass through The universal loading experimental apparatus of more modulars of coordinated control and numerical value minor structure realize the seismic response examination of large and complex structure It tests.
Remaining is together with embodiment.
The characteristics of being loaded according to structural test, it is real with the modular space loading device of compoundforce-displacement control herein The power of existing three-dimensional six degree of freedom/displacement mixing control load.Country's external space loading device mainly uses Bit andits control at present, adopts It firmly controls considerably less, realizes that power/displacement mixing control of three-dimensional six degree of freedom is less;Meanwhile using double-loop control strategy To realize that power/displacement mixing control load of three-dimensional six degree of freedom also has no that anyone or tissue are proposed or realized.
Embodiment described above only describe the preferred embodiments of the invention, not to model of the invention It encloses and is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention The various changes and improvements that case is made should all be fallen into the protection scope that claims of the present invention determines.

Claims (8)

1. a kind of universal load testing machine of modular, including upper table surface (1), following table (2), actuator (3), force snesor (4), displacement sensor (5), mechanically gimbaled hinge (6), the next machine controller (7), coordinate converter (8), mode controller (9), Supervisory controller (10), every actuator (3) includes force snesor (4) He Yitai displacement sensor (5), and is passed through Two mechanically gimbaled hinges (6) are connected with upper table surface (1) and following table (2), and the next machine controller (7) is realized to separate unit actuator (3) Bit andits control is carried out, coordinate converter (8), mode controller (9) and supervisory controller (10) constitute outer ring controller, Realize upper table surface (1) load(ing) point in the 6DOF power of global coordinate system and displacement mixing control, it is characterised in that: 6 actuator Parallel kinematic mechanism is formed, upper table surface (1) can control to move in space any direction, the mode controller (9) has perturbation Matrix Solving module (18), power displacement conversion module (19), perturbation matrices solve module (18) after test body connection, using taking the photograph Dynamic method automatically generates test body stiffness matrix, and power is displaced conversion module (19) according to the echo signal of supervisory controller (10) Power is converted from displacement by associated target value with mode signal or is converted into displacement from power, and is sent to coordinate converter (8); Target control vector u is issued by supervisory controller (10)i+1To mode controller (9), mode controller (9) is by target control The class switching displacement and power compound target vector d under global coordinate system of its scheme control of vector sumc i+1(t), pass through coordinate Converter (8) converts object vector to the echo signal l of actuatorc k, 6 actuator (3) are driven by the next machine controller (7) Test body is loaded, while the force snesor (4) of each actuator and displacement sensor (5) feedback signal mc k, and by sitting Mark converter (8) is converted into displacement and force feedback vector Y under global coordinate systemR i+1(t), it is sent to supervisory controller (10), closed-loop control is formed by comparing rear.
2. the universal load testing machine of modular according to claim 1, which is characterized in that upper table surface (1) is universal load The loaded planar of experimental rig is connect in test with test body.
3. the universal load testing machine of modular according to claim 1, which is characterized in that following table (2) is universal load The counter-force component of experimental rig is connect in test with laboratory counter force wall or counter-force floor.
4. the universal load testing machine of modular according to claim 1, which is characterized in that the displacement of actuator (3) is by position Displacement sensor (5) measurement, active force are measured by force snesor (4), and movement is driven by servo valve (11).
5. the universal load testing machine of modular according to claim 1, which is characterized in that the next machine controller (7) is by interior Ring servo controller (12), feedback signal conditioning circuit (13), servo command comparator (14) are constituted, feedback signal conditioning circuit (13) receive the feedback signal from displacement sensor (5) and force snesor (4), improve by filtering, amplifying circuit and to form tune Echo signal is generated comparison signal afterwards compared with feedback signal after conditioning and sent out by feedback signal after reason, servo command comparator (14) It gives inner ring servo controller (12), inner ring servo controller (12) uses PID control, and comparison signal is converted to order letter Number, drive ram (3) movement, the next machine controller has 6 channels, and each channel controls 1 actuator (3).
6. the universal load testing machine of modular according to claim 1, which is characterized 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 and power of 6 actuator Analog 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) are 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) It is inversely transformed into the target value of 6 actuator, analog signal is converted to by D/A conversion module (16), and send slave computer control to Device (7) processed is used as its echo signal.
7. the universal load testing machine of modular according to claim 1, which is characterized 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 and displacement signal of the global coordinate system from coordinate converter (8), is filtered by Kalman Wave device (23) is compared with whole 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), more Input multi output robust controller (22) and Kalman filter (23) are installed in desktop computer (20), and desktop computer (20) has The interface interacted with system integration controller (24).
8. the universal load testing machine of modular according to claim 7, which is characterized in that the system integration controller (24) it can be interacted with the more supervisory controllers (10), the more universal load testing machines of modular of control are answered Miscellaneous structural test can also exchange data with numerical value minor structure (25).
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