CN106769125A - A kind of test method for obtaining the dynamic characteristic from loading moment to feedback potentiometer - Google Patents
A kind of test method for obtaining the dynamic characteristic from loading moment to feedback potentiometer Download PDFInfo
- Publication number
- CN106769125A CN106769125A CN201611044783.9A CN201611044783A CN106769125A CN 106769125 A CN106769125 A CN 106769125A CN 201611044783 A CN201611044783 A CN 201611044783A CN 106769125 A CN106769125 A CN 106769125A
- Authority
- CN
- China
- Prior art keywords
- torque
- dynamic characteristic
- module
- loading moment
- sterring engine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Engines (AREA)
Abstract
The invention discloses a kind of test method for obtaining the dynamic characteristic from loading moment to feedback potentiometer, concretely comprise the following steps：The test system for obtaining hydraulic sterring engine dynamic characteristic is set up, including：Loading moment emulation module, hydraulic sterring engine module and dynamic characteristic determining module；Loading moment emulation module applies torque to hydraulic sterring engine module；Hydraulic sterring engine module tracks rudder zero is instructed；Dynamic characteristic determining module calculates torque to the dynamic characteristic of feedback potentiometer.The present invention can effectively obtain hydraulic sterring engine dynamic characteristic, fill up the blank of conventional method of testing, its outstanding feature is to carry out data processing by applying loading moment and feedback potentiometer, and then obtain the dynamic characteristic of hydraulic sterring engine, can effectively solve the problems, such as that the resonant frequency of hydraulic sterring engine can be obtained without method of testing, for hydraulic sterring engine model design and verification provides important support.During there is the steering wheel product design of dynamic characteristic test demand it is also possible to apply the invention to other.
Description
Technical field
It is particularly a kind of to obtain from loading moment the present invention relates to a kind of test method for obtaining hydraulic sterring engine dynamic characteristic
To the test method of the dynamic characteristic of feedback potentiometer.
Background technology
The dynamic characteristic of hydraulic sterring engine refers to the transmission characteristic from loading moment to feedback potentiometer under different frequency.Engineering
In it is general by test from instruction to the transmission characteristic of feedback potentiometer characterizing rudder system（Including steering wheel and rudder face）Dynamic
Characteristic, the method is due to the reason such as the dead band of hydraulic sterring engine and rudder speed saturation, it is impossible to obtain the resonant frequency of hydraulic sterring engine.
The content of the invention
Present invention aim at the test method for providing a kind of dynamic characteristic of acquisition from loading moment to feedback potentiometer,
Solve the problems, such as that conventional method of testing cannot obtain the resonant frequency of hydraulic sterring engine.
A kind of test method for obtaining dynamic characteristic from loading moment to feedback potentiometer is concretely comprised the following steps：
The first step sets up the test system for obtaining hydraulic sterring engine dynamic characteristic
The test system of hydraulic sterring engine dynamic characteristic is obtained, including：Loading moment emulation module, hydraulic sterring engine module and dynamic
Personality determination module.It is described,
The function of loading moment emulation module is：Complete the output of setpoint frequency and the loading moment being sized；
The function of hydraulic sterring engine module is：Loading moment is born, while the feedback according to itself feedback potentiometer completes to refer to rudder
The tracking of order；
The function of dynamic characteristic determining module is：Determine that hydraulic sterring engine is moved after processing loading moment and feedback potentiometer
Step response.
Second step loading moment emulation module applies torque to hydraulic sterring engine module
Loading moment emulation module is connected by switching tooling with hydraulic sterring engine module.Loading moment emulation module is received
Torque command, no more than hydraulic sterring engine maximum load torque, the frequency of torque command is F to the size of torque command, and F is to appoint
Meaning value.Loading moment simulator feeds back the output completed to torque command by the torque sensor of itself, finally by switching
Frock passes torque to steering wheel module.
3rd stepped hydraulic steering wheel module tracks rudder zero is instructed
Hydraulic sterring engine module bears the torque applied from loading moment emulation module, while according to the feedback potentiometer of itself
Feedback completes the tracking to zero instruction.
4th step dynamic characteristic determining module calculates torque to the dynamic characteristic of feedback potentiometer
Torque and the feedback potentiometer of hydraulic sterring engine module output that dynamic characteristic determining module is exported to torque emulation module
Data carry out Fast Fourier Transform (FFT), obtain applying amplitude and phase during frequency F, according to torque and feedback potentiometer amplitude and
Dynamic characteristic of the phase calculation torque to feedback potentiometer：
Wherein：For apply frequency F when torque to feedback potentiometer amplitude,Torque is to anti-during for applying frequency F
Potentiometric phase is presented,For torque applying frequency F when amplitude,It is the applying frequency of feedback potentiometer
Amplitude during F,For torque applying frequency F when phase,For feedback potentiometer applying frequency F when
Phase；
So far, it is determined that the experiment of the dynamic characteristic from loading moment to feedback potentiometer.
The present invention can effectively obtain hydraulic sterring engine dynamic characteristic, fill up the blank of conventional method of testing, its outstanding feature
It is to carry out data processing by applying loading moment and feedback potentiometer, and then obtains the dynamic characteristic of hydraulic sterring engine, can be with
Effectively solve the problems, such as that the resonant frequency of hydraulic sterring engine can be obtained without method of testing, be hydraulic sterring engine model design and verification
Important support is provided.During there is the steering wheel product design of dynamic characteristic test demand it is also possible to apply the invention to other.
Specific embodiment
A kind of test method for obtaining dynamic characteristic from loading moment to feedback potentiometer is concretely comprised the following steps：
The first step sets up the test system for obtaining hydraulic sterring engine dynamic characteristic
The test system of hydraulic sterring engine dynamic characteristic is obtained, including：Loading moment emulation module, hydraulic sterring engine module and dynamic
Personality determination module.It is described,
The function of loading moment emulation module is：Complete the output of setpoint frequency and the loading moment being sized；
The function of hydraulic sterring engine module is：Loading moment is born, while the feedback according to itself feedback potentiometer completes to refer to rudder
The tracking of order；
The function of dynamic characteristic determining module is：Determine that hydraulic sterring engine is moved after processing loading moment and feedback potentiometer
Step response.
Second step loading moment emulation module applies torque to hydraulic sterring engine module
Loading moment emulation module is connected by switching tooling with hydraulic sterring engine module.Loading moment emulation module is received
Torque command, no more than hydraulic sterring engine maximum load torque, the frequency of torque command is F to the size of torque command, and F is to appoint
Meaning value.Loading moment simulator feeds back the output completed to torque command by the torque sensor of itself, finally by switching
Frock passes torque to steering wheel module.
3rd stepped hydraulic steering wheel module tracks rudder zero is instructed
Hydraulic sterring engine module bears the torque applied from loading moment emulation module, while according to the feedback potentiometer of itself
Feedback completes the tracking to zero instruction.
4th step：Dynamic characteristic determining module calculates torque to the dynamic characteristic of feedback potentiometer
Torque and the feedback potentiometer of hydraulic sterring engine module output that dynamic characteristic determining module is exported to torque emulation module
Data carry out Fast Fourier Transform (FFT), obtain applying amplitude and phase during frequency F, according to torque and feedback potentiometer amplitude and
Dynamic characteristic of the phase calculation torque to feedback potentiometer：
Wherein：For apply frequency F when torque to feedback potentiometer amplitude,Torque is to anti-during for applying frequency F
Potentiometric phase is presented,For torque applying frequency F when amplitude,It is the applying frequency of feedback potentiometer
Amplitude during F,For torque applying frequency F when phase,For feedback potentiometer applying frequency F when
Phase；
So far, it is determined that obtain the experiment of the dynamic characteristic from loading moment to feedback potentiometer.
Claims (1)
1. a kind of test method for obtaining dynamic characteristic from loading moment to feedback potentiometer, it is characterised in that specific steps
For：
The first step sets up the test system for obtaining hydraulic sterring engine dynamic characteristic
The test system of hydraulic sterring engine dynamic characteristic is obtained, including：Loading moment emulation module, hydraulic sterring engine module and dynamic
Personality determination module；It is described,
The function of loading moment emulation module is：Complete the output of setpoint frequency and the loading moment being sized；
The function of hydraulic sterring engine module is：Loading moment is born, while the feedback according to itself feedback potentiometer completes to refer to rudder
The tracking of order；
The function of dynamic characteristic determining module is：Determine that hydraulic sterring engine is moved after processing loading moment and feedback potentiometer
Step response；
Second step loading moment emulation module applies torque to hydraulic sterring engine module
Loading moment emulation module is connected by switching tooling with hydraulic sterring engine module；Loading moment emulation module is received
Torque command, no more than hydraulic sterring engine maximum load torque, the frequency of torque command is F to the size of torque command, and F is to appoint
Meaning value；Loading moment simulator feeds back the output completed to torque command by the torque sensor of itself, finally by switching
Frock passes torque to steering wheel module；
3rd stepped hydraulic steering wheel module tracks rudder zero is instructed
Hydraulic sterring engine module bears the torque applied from loading moment emulation module, while according to the feedback potentiometer of itself
Feedback completes the tracking to zero instruction；
4th step dynamic characteristic determining module calculates torque to the dynamic characteristic of feedback potentiometer
Torque and the feedback potentiometer of hydraulic sterring engine module output that dynamic characteristic determining module is exported to torque emulation module
Data carry out Fast Fourier Transform (FFT), obtain applying amplitude and phase during frequency F, according to torque and feedback potentiometer amplitude and
Dynamic characteristic of the phase calculation torque to feedback potentiometer：
Wherein：For apply frequency F when torque to feedback potentiometer amplitude,Torque is to anti-during for applying frequency F
Potentiometric phase is presented,For torque applying frequency F when amplitude,It is the applying frequency of feedback potentiometer
Amplitude during F,For torque applying frequency F when phase,For feedback potentiometer applying frequency F when
Phase；
So far, it is determined that obtain the experiment of the dynamic characteristic from loading moment to feedback potentiometer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611044783.9A CN106769125B (en) | 2016-11-24 | 2016-11-24 | A kind of test method obtaining the dynamic characteristic from loading moment to feedback potentiometer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611044783.9A CN106769125B (en) | 2016-11-24 | 2016-11-24 | A kind of test method obtaining the dynamic characteristic from loading moment to feedback potentiometer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106769125A true CN106769125A (en) | 2017-05-31 |
| CN106769125B CN106769125B (en) | 2019-02-22 |
Family
ID=58974075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611044783.9A Active CN106769125B (en) | 2016-11-24 | 2016-11-24 | A kind of test method obtaining the dynamic characteristic from loading moment to feedback potentiometer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106769125B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110027613A (en) * | 2009-09-08 | 2011-03-16 | 주식회사 누리텍 | Performance diagnosis and apparatus for hydraulic serve valve |
| CN103048924A (en) * | 2012-12-28 | 2013-04-17 | 大连海事大学 | Testing and simulating system for automatic vessel rudder |
| CN103499444A (en) * | 2013-10-24 | 2014-01-08 | 北京航空航天大学 | Actuator performance tester |
| CN105159076A (en) * | 2015-08-24 | 2015-12-16 | 南京理工大学 | Fusion type adaptive robust-based electro-hydraulic load simulator force control method |
| CN105956325A (en) * | 2016-05-24 | 2016-09-21 | 北京航空航天大学 | Dynamic speed synchronous control method for redundant force of electro-hydraulic load simulator |
| CN106015175A (en) * | 2016-07-31 | 2016-10-12 | 大连宏远气动液压船舶辅机有限公司 | Hydraulic steering gear simulation detecting test-bed device |
-
2016
- 2016-11-24 CN CN201611044783.9A patent/CN106769125B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110027613A (en) * | 2009-09-08 | 2011-03-16 | 주식회사 누리텍 | Performance diagnosis and apparatus for hydraulic serve valve |
| CN103048924A (en) * | 2012-12-28 | 2013-04-17 | 大连海事大学 | Testing and simulating system for automatic vessel rudder |
| CN103499444A (en) * | 2013-10-24 | 2014-01-08 | 北京航空航天大学 | Actuator performance tester |
| CN105159076A (en) * | 2015-08-24 | 2015-12-16 | 南京理工大学 | Fusion type adaptive robust-based electro-hydraulic load simulator force control method |
| CN105956325A (en) * | 2016-05-24 | 2016-09-21 | 北京航空航天大学 | Dynamic speed synchronous control method for redundant force of electro-hydraulic load simulator |
| CN106015175A (en) * | 2016-07-31 | 2016-10-12 | 大连宏远气动液压船舶辅机有限公司 | Hydraulic steering gear simulation detecting test-bed device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106769125B (en) | 2019-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Sun et al. | Nested adaptive super-twisting sliding mode control design for a vehicle steer-by-wire system | |
| US10489993B2 (en) | Emulator hardware-in-loop architecture and control logic for vehicle steer-by-wire test system | |
| CN101793605B (en) | Dynamic loading methods based on servo motor | |
| KR20200101299A (en) | Control parameter processing method, device and equipment and storage medium | |
| Chitu et al. | Controller design for an electric power steering system based on LQR techniques | |
| CN107161208B (en) | Automobile electric booster steering system active rotary transform tensor method | |
| CN105389449A (en) | Bolt strength analysis method | |
| CN112346343B (en) | Method and system for controlling active vibration of automobile power assembly based on identification model | |
| CN106769125A (en) | A kind of test method for obtaining the dynamic characteristic from loading moment to feedback potentiometer | |
| CN108693769A (en) | A kind of automatic driving of agricultural machinery control method based on electric steering wheel | |
| CN107274746A (en) | A kind of complete emulation automobile physical engine control system | |
| JP2001349808A (en) | Construction method for vehicle model, apparatus provided with the model constructed by the method and recording medium with the model recorded thereon | |
| CN105929825A (en) | Ship dynamic positioning backstepping control method based on neural dynamic model | |
| Jiang et al. | Studies on influencing factors of driver steering torque feedback | |
| Morgando et al. | An alternative approach to automotive ESC based on measured wheel forces | |
| CN102252126A (en) | Method for identifying parameters of servo object in electro-hydraulic angular displacement servo system | |
| CN109084994B (en) | Running resistance control method, device and system for vehicle bench test | |
| CN102707629A (en) | Design method of full-dimensional controller region based on aircraft switching model | |
| Zheng et al. | 04Road Feel Feedback Design for Vehicle Steer-by-Wire via Electric Power Steering | |
| CN104340262A (en) | Apparatus and method for driving motor driven power steering | |
| Liu et al. | A novel driver model for real-time simulation on electric powertrain test bench | |
| CN108594676A (en) | A kind of industry controlled process characteristic parameter Fast Identification Method | |
| CN113792410B (en) | Method and system for mapping vehicle control data to simulation environment | |
| CN206065238U (en) | A kind of ratio valve module for being applied to the assembling of sensor magnetosphere | |
| CN115096619B (en) | Load simulation device, steering test system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |