CN108225796A - A kind of parallel road analogy actuator configurations and its control method - Google Patents
A kind of parallel road analogy actuator configurations and its control method Download PDFInfo
- Publication number
- CN108225796A CN108225796A CN201810313965.4A CN201810313965A CN108225796A CN 108225796 A CN108225796 A CN 108225796A CN 201810313965 A CN201810313965 A CN 201810313965A CN 108225796 A CN108225796 A CN 108225796A
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- actuator
- test platform
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- road
- hydraulic
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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
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The present invention relates to a kind of parallel road analogy actuator and its control method, system includes actuator ontology and control system, and actuator ontology includes fixed part and moving part, and fixed part includes fixation steel plate, beam, fixing bolt；Moving part includes three hydraulic servo actuators, test platform, speed changer fixture, coupled between moving part and fixation steel plate using Plane Rotation hinge, it ensure that testing stand stability, it is connected between actuator and test platform using MTS flexural pivots, entire mechanism is under the control of servo-control system, rotational freedom and the vertical translational degree of freedom of pitching and inclination are realized by hydraulic actuator driving test platform, realizes speed changer Road Simulation Test.
Description
Technical field
Patent of the present invention is related to a kind of road simulator stand, makees more specifically, being related to a kind of parallel road analogy
Dynamic device structure and its control method.
Background technology
In the process of moving, complicated surface conditions can influence the service life and performance of automotive transmission, automobile to automobile
Speed changer carried out in production process is designed Road Simulation Test very it is necessary to.Road simulator stand can efficiently accurately
It simulates by the multivariant movement of test specimen and stressing conditions, is widely used in trap for automobile simulation test field.Road analogy is made
Dynamic device is one of important spare part of road simulation platform, for test objective and the different designs Road Simulation Test of test specimen
System is to carry out the basis of laboratory road simulation test.
But existing road analogy actuator has the disadvantage that and deficiency：It can cannot significantly reconcile and change start
The range of power；Complicated, manufacture difficulty and cost are higher.
Preferably to simulate complicated road multifreedom motion and stressing conditions, a kind of parallel road analogy of spy's invention is made
Device structure and its control method are moved to carry out road analogy.
Invention content
For problems of the prior art, particularly existing inertia-type actuator cannot significantly alter what is be used as power
Range, tandem actuator cannot be significantly adjustable.
The technical problems to be solved by the invention are working condition of the simulated automotive speed changer on complicated road, to solve
Have excellent response characteristic in the frequency range that speed changer is tested in Vehicular vibration, and ensure at runtime enough steady
Property.
The purpose of the present invention is realized by the following technical programs.
The present invention includes two aspects：A kind of parallel road analogy actuator configurations and its control method.
One aspect of the present invention, a kind of parallel road analogy actuator configurations include fixed part and moving part.
The fixed part, including fixation steel plate, beam, fixing bolt.
The fixation steel plate thickness specification is 20mm to 25mm, and fixation steel plate surrounding is fixed on concrete ground with setscrew
On face, actuator moving part is installed on fixation steel plate.
The beam is embedded in the centre position of four sides of steel plate, plays damping to fixation steel plate, ensures steel
Plate it is steady, make the action of road analogy response that speed changer obtains entirely from actuator.
The moving part includes three hydraulic servo actuators, test platform, speed changer fixture.
The hydraulic servo actuator, hydraulic servo actuator is using MTS244 series, length of stroke 240mm, three
It is connected in parallel between hydraulic servo actuator.
The identical angle of the actuator opposite tilt, the excitation point being connect with test platform be located on same circumference and
Even distribution is mutually 120 °, and the center of circle is overlapped with the centroid position of test platform.
Coupled between the actuator and fixation steel plate using Plane Rotation hinge, used between actuator and test platform
MTS flexural pivots connect, and are connected by screw bolts between test platform and speed changer fixture.
Described kind of parallel road analogy actuator configurations are driven under the control of servo-control system by hydraulic actuator
Test platform moves, and realizes rotational freedom and the vertical translational degree of freedom of pitching and inclination.
Another aspect of the present invention, a kind of control method of parallel road analogy actuator.
Computer sends out drive signal, carries out D/A conversions by controller, separator is according to servosignal to each actuator
Hydraulic oil driving rack action is distributed, while recycles the kinematic parameter feedback signal of rack, then realize that A/D turns by controller
It changes, is input in computer and is analyzed and calculated, be thusly-formed closed-loop system, it is characterised in that the control method includes following
Several steps：
Step 1：Actuator acts：According to the preset road surface track situation of computer, send out servosignal to actuator and refer to
It enables, carries out D/A conversions by controller, separator is acted according to servosignal to each actuator distribution hydraulic oil driving rack.
Step 2：Gathered data：The acceleration transducer and road roughness displacement sensor arranged on case of transmission
Acquisition speed changer movement locus signal and road roughness displacement in real time, piston velocity sensor acquire upper piston rod under in real time
The speed signal of piston rod, signal transmission is to actuator controller.
Step 3：Actuator controller feedback regulation：A/D conversions are realized by controller, actuator controller is according to biography
The signal of sensor input and the preset road surface track real time contrast of computer and calculating calculate actual motion track and in advance
The departure of track is set, and departure is corrected in real time, action command is sent out to actuator, is thusly-formed closed-loop control.
A kind of parallel road analogy actuator configurations of the present invention, between three three hydraulic servo actuators it is in parallel even
It connects, the excitation point being connect with test platform, which is located on same circumference and is uniformly distributed, is mutually 120 °, the matter of the center of circle and test platform
Heart position overlaps, and simple in structure, experiment abberation is small.
The control method of a kind of parallel road analogy actuator configurations of the present invention, using closed-loop control, in real time to making
Dynamic device action is modified, and step is simple, convenient for promoting.
Description of the drawings
Fig. 1 is a kind of parallel road analogy actuator configurations schematic diagram of the present invention.
Wherein reference numeral is：1 fixation steel plate；2 beams；3 hydraulic servo actuator bearings；4 Plane Rotation hinges；5
Separator；6 hydraulic servo actuators；7 test platforms；8 speed changer fixtures；9MTS flexural pivots.
Specific embodiment
Describe the specific implementation of the present invention in detail below in conjunction with technical solution and attached drawing.
Thickness is that beam, beam and fixed steel are inlayed in the centre position of four sides of fixation steel plate of 20mm to 25mm
It is connected between plate with the form of gluing, fixation steel plate is mounted on mattess by setscrew.
Three hydraulic servo actuators are connected in parallel, and the hydraulic servo being connected on fixation steel plate that is twisted together using Plane Rotation is made
On dynamic device bearing.
Three hydraulic servo actuators are connected to using MTS flexural pivots on experiment porch, and test platform leads to speed changer fixture
Bolt is crossed to fix.
During experiment, speed changer is placed on test platform, by fixture fixation, arranges and accelerates on case of transmission
Sensor and road roughness displacement sensor are spent, piston velocity sensor is arranged in actuator.
There is signal transmission between separator and controller, and connected with computer, computer sends out drive signal, passes through
It crosses controller and carries out D/A conversions, separator is acted according to servosignal to each actuator distribution hydraulic oil driving rack.
Computer realizes A/D conversions, input according to the collected kinematic parameter feedback signal of each sensor by controller
It is analyzed and is calculated into computer, act actuator.
Entire mechanism realizes rotational freedom and the vertical translational degree of freedom of pitching and inclination, and test platform has vertical flat
Dynamic, inclination rotation, pitch rotation three degree of freedom, the movement of corresponding each degree of freedom, three hydraulic servo actuators generate each
From forms of motion, the corresponding actuator action of movement on wherein X, Y, Z-direction is as follows：
X is to rotation：Two of which hydraulic servo actuator is actively equidirectional flexible simultaneously, and third hydraulic servo actuator is simultaneously
Do opposite direction movement.
Y-direction rotates：Two of which hydraulic servo actuator is actively equidirectional flexible simultaneously, another hydraulic servo actuator
Do opposite direction movement simultaneously.
Z-direction is translatable：Three hydraulic servo actuator actuator simultaneous retractables.
The present invention by three hydraulic servo actuators in use, can numbering according to experiment demand, passing through control in a computer
Set up the Road Simulation Test determined road surface trajectory parameters and adjust separator action realization speed changer.
In conclusion the configuration of the present invention is simple, reasonable design and it is easy to use, accuracy is higher, computer is advance
The road surface track of setting is corrected in time with hydraulic servo actuator movement locus, realizes test platform action and practical road surface feelings
The height fitting of condition, it is highly practical.
Every any simple modification, change and equivalent structure made according to the technology of the present invention essence to above example
Variation, is still within the scope of the technical scheme of the invention.
Claims (3)
1. a kind of parallel road analogy actuator configurations and its control method, which is characterized in that structure includes actuator ontology
And control system, actuator ontology include fixed part and moving part, fixed part includes fixation steel plate, beam, fixation
Bolt；Moving part includes three hydraulic servo actuators being connected in parallel, test platform, speed changer fixture, and three hydraulic pressure are watched
It takes between actuator using being connected in parallel；Three hydraulic servo actuators are flat by being used between actuator bearing and fixation steel plate
Face rotary hinge connection, three are connected between hydraulic servo actuator and test platform using MTS flexural pivots, and entire mechanism is in servo control
Under the control of system processed, by hydraulic actuator driving test platform realize pitching and inclination rotational freedom and vertical translation from
By spending.
2. as described in claim 1, the identical angle of three hydraulic servo actuator opposite tilts, what is connect with test platform swashs
It encourages a little to be located on same circumference and be uniformly distributed and is mutually 120 °, the center of circle is overlapped with the centroid position of test platform.
3. a kind of control method of parallel road analogy actuator configurations as described in claim 1, computer sends out driving letter
Number, D/A conversions are carried out by controller, separator is acted according to servosignal to each actuator distribution hydraulic oil driving rack,
The kinematic parameter feedback signal of rack is recycled simultaneously, then A/D conversions are realized by controller, is input in computer and is analyzed
And calculating, it is thusly-formed closed-loop system, it is characterised in that the control method includes following steps：
Step 1：Actuator acts：According to the preset road surface track situation of computer, send out servosignal to actuator and refer to
It enables, carries out D/A conversions by controller, separator is acted according to servosignal to each actuator distribution hydraulic oil driving rack;
Step 2：Gathered data：The acceleration transducer and road roughness displacement sensor arranged on case of transmission are real-time
Acquisition speed changer movement locus signal and road roughness displacement, piston velocity sensor acquire upper piston rod and lower piston in real time
The speed signal of bar, signal transmission is to actuator controller;
Step 3：Actuator controller feedback regulation：A/D conversions are realized by controller, actuator controller is according to sensor
The preset road surface track real time contrast of signal and computer of input and calculating calculate actual motion track and preset
The departure of track, and departure is corrected in real time, action command is sent out to actuator, is thusly-formed closed-loop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810313965.4A CN108225796A (en) | 2018-04-11 | 2018-04-11 | A kind of parallel road analogy actuator configurations and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810313965.4A CN108225796A (en) | 2018-04-11 | 2018-04-11 | A kind of parallel road analogy actuator configurations and its control method |
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| CN108225796A true CN108225796A (en) | 2018-06-29 |
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| CN201810313965.4A Pending CN108225796A (en) | 2018-04-11 | 2018-04-11 | A kind of parallel road analogy actuator configurations and its control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900498A (en) * | 2019-04-22 | 2019-06-18 | 东北大学 | Vehicle complete vehicle reliability test bench and application method |
| CN113252369A (en) * | 2021-06-24 | 2021-08-13 | 中国第一汽车股份有限公司 | Method for determining road parameters suitable for air suspension test |
| CN113504054A (en) * | 2021-06-28 | 2021-10-15 | 东风柳州汽车有限公司 | Vehicle cab road simulation test device and system |
-
2018
- 2018-04-11 CN CN201810313965.4A patent/CN108225796A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900498A (en) * | 2019-04-22 | 2019-06-18 | 东北大学 | Vehicle complete vehicle reliability test bench and application method |
| CN113252369A (en) * | 2021-06-24 | 2021-08-13 | 中国第一汽车股份有限公司 | Method for determining road parameters suitable for air suspension test |
| CN113504054A (en) * | 2021-06-28 | 2021-10-15 | 东风柳州汽车有限公司 | Vehicle cab road simulation test device and system |
| CN113504054B (en) * | 2021-06-28 | 2022-07-22 | 东风柳州汽车有限公司 | Vehicle cab road simulation test device and system |
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Application publication date: 20180629 |
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| WD01 | Invention patent application deemed withdrawn after publication |