CN108345319A - A kind of control system of electric cylinder test buffering trolley - Google Patents
A kind of control system of electric cylinder test buffering trolley Download PDFInfo
- Publication number
- CN108345319A CN108345319A CN201810314226.7A CN201810314226A CN108345319A CN 108345319 A CN108345319 A CN 108345319A CN 201810314226 A CN201810314226 A CN 201810314226A CN 108345319 A CN108345319 A CN 108345319A
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- CN
- China
- Prior art keywords
- trolley
- control
- buffering trolley
- buffering
- control computer
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Conveyors (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of electric cylinders to test the control system with buffering trolley, mainly solving the technical problems that in the prior art in electric cylinder test process, the problem of buffering trolley can not rush to the place that perpendicular rack falls in time, the present invention tests the control system with buffering trolley by a kind of electric cylinder, including control computer, the control computer is used to receive the signal that limit sensing unit sends over and the signal is sent to frequency converter by corresponding control algolithm, control instruction is converted to frequency variation signal and is delivered to motor by the frequency converter, the motor drives transmission system to the technical solution for driving buffering trolley to be moved forward and backward on guide rail, preferably solves the problems, such as this, it can be used for controlling buffering trolley.
Description
Technical field
The present invention relates to a kind of electric cylinders to test the control system with buffering trolley.
Background technology
Electric cylinder is the device for the rotary motion of motor being changed into linear motion, have accurately control position, speed and
The advantage of thrust is widely used in the fields such as mechanical automation, industrial robot, automobile.During electric cylinder development and production,
It needs to test the various performance parameters of electric cylinder, such as maximum load, thrust, pulling force, stroke.Electricity is erected at high-power
In dynamic cylinder test process, electric cylinder test has been mainly used for perpendicular rack with buffering trolley and has erected and Hui Ping during loses extremely rising
When electricity, electromotor brake failure, perpendicular rack is supported, has absorbed perpendicular rack whereabouts Impact energy, prevented under perpendicular rack stall
Fall damage equipment and injury.During playing perpendicular perpendicular rack and Hui Ping, buffering trolley can pass through mobile self-position
Select best buffer point.In order to reach optimized buffer effect, we devise a kind of control of electric cylinder test buffering trolley
System processed plays the small truck position of vertical angle degree real-time control adjustment buffering according to perpendicular rack is played, so that trolley is reached optimized buffer position, most
Achieve the purpose that safe buffering eventually.
Invention content
The technical problem to be solved by the present invention is in electric cylinder test process, buffering trolley can not be timely in the prior art
A kind of the problem of having rushed to the place that perpendicular rack falls, it is proposed that control system of new electric cylinder test buffering trolley
System, the control system have the characteristics that controlling buffering trolley in time moves self-position to reach optimized buffer position.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is as follows：A kind of electric cylinder test buffering is small
The control system of vehicle, including control computer, the control computer are used to receive the signal that limit sensing unit sends over
And the signal is sent to frequency converter by corresponding control algolithm, it is defeated that control instruction is converted to frequency variation signal by the frequency converter
It send to motor, the motor drives transmission system to drive buffering trolley to be moved forward and backward on guide rail.
Further, it is preferable that the control computer is equipped with data acquisition card and 485 bus interface cards, passes through institute
Signal of the data acquisition card acquisition from the limit sensing unit is stated, the control computer passes through the signal that acquisition comes
Corresponding control algolithm sends control instruction to the frequency converter via 485 bus interface card.
Preferably, the limit sensing unit includes angular transducer, displacement sensor and limit switch.
Preferably, the transmission system includes speed reducer, sprocket wheel and chain, and the speed reducer passes through transmission shaft and the electricity
Machine is connected, and the speed reducer is connected by sprocket wheel and chain with driving wheel.
It is highly preferred that institute's displacement sensors are stay-supported type displacement sensor, the ontology of institute's displacement sensors is installed on
The bracing wire end of the starting point that buffering trolley orbits, displacement sensor is fixed on buffering trolley.
It is highly preferred that the angular transducer has been installed at perpendicular rack shaft, the axle center of the angular transducer with rise
It installs with one heart in the axle center of perpendicular rack.
It is highly preferred that the limit switch is mechanical limit switch, and there are two the limit switch is set, two limits
Bit switch is separately mounted to the starting point and ending point that buffering trolley orbits.
It is highly preferred that the control method includes the following steps：
Step 1：It plays perpendicular rack to have started to erect, starts the angle of output variation positioned at the angular transducer risen at perpendicular rack shaft
Information is spent, angle information is acquired by the data acquisition card in the control computer.
Step 2：The collected angle information of the data acquisition card is analyzed, is calculated by the control computer
The position that buffering trolley should currently reach.
Step 3：The control computer acquires the displacement from institute's displacement sensors by the data acquisition card and believes
Breath calculates and obtains position, travel direction and travel speed that buffering trolley is presently in.
Step 4：The control computer is to buffering trolley " position being presently in " and " position that should currently reach "
It is compared calculating, obtains direction and traveling acceleration that buffering trolley should travel.If travel direction subtracts on the contrary, to undergo
Speed, stopping and reversed accelerator.
Step 5：The control computer will buffer the direction and traveling acceleration that trolley should travel, and be converted into described
The control instruction of frequency converter；And control instruction is sent to the frequency converter by 485 bus interface card；The frequency converter will
Control instruction is converted to frequency variation signal and exports to the motor；The motor is buffered by the transmission system drives before and after trolley
It is mobile.
Step 6：The control computer acquires the information from the limit switch by the data acquisition card, if
Limit switch, which sends out useful signal or plays perpendicular gantry angle, stops variation, and the control computer passes through 485 bus interface
Card sends " shutdown " instruction to the frequency converter, and the motor stops power output, and buffering trolley freely stops, and otherwise, turns step
Rapid 2.
The beneficial effects of the present invention are：The present invention buffers the moving range of trolley by limiting sensing unit limitation, prevents
Only trolley is moved to except working range；The present invention is real-time monitored by limit sensing unit according to undercarriage angle information slow
Rush the position where trolley；The present invention is handled the signal that comes of collection by control computer, then by processed letter
Breath is transmitted to frequency converter, and frequency converter is transmitted to motor again, last motor by transmission system to buffering trolley driven so as to adjust
The position of buffering trolley, makes the trolley be in optimized buffer position, achievees the purpose that improve cushion performance, reduction shock loading.
Description of the drawings
Fig. 1 is a kind of system block diagram of the control system of electric cylinder test buffering trolley of the present invention；
Fig. 2 is the structural schematic diagram for the control system that a kind of electric cylinder test of the present invention buffers trolley.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Fig. 1 and 2 is referred to, present embodiment discloses a kind of electric cylinders to test the control system with buffering trolley, including control
Computer 1 processed, the setting of control computer 1 is on buffering trolley, and control computer 1 is equipped with data acquisition card 9 and 485 buses connect
Mouthful card 10, by data acquisition card 9 acquisition from limit sensing unit signal, limit sensing unit include angular transducer,
Displacement sensor 4 and limit switch 5；
Control computer 1 sends the signal that acquisition comes by corresponding control algolithm via 485 bus interface cards 10
To frequency converter 2, control computer 1 is used to receive the signal that limit sensing unit sends over and passes through the signal control instruction
Corresponding control algolithm is sent to frequency converter 2, and control instruction is converted to frequency variation signal and is delivered to motor 3, motor 3 by frequency converter 2
Transmission system is driven to drive buffering trolley to be moved forward and backward on guide rail, transmission system includes speed reducer 6, sprocket wheel 7 and chain
8, speed reducer 6 is connected by transmission shaft with motor 3, and speed reducer 6, transmission shaft and motor 3 are all mounted on buffering car top, subtract
Fast machine 6 is connected by sprocket wheel 7 and chain 8 with the driving wheel of buffering trolley；
Further, displacement sensor 4 is stay-supported type displacement sensor, and it is small that the ontology of displacement sensor 4 is installed on buffering
The bracing wire end of the starting point that vehicle orbits, displacement sensor 4 is fixed on buffering trolley；
Further, angular transducer has been installed at perpendicular rack shaft, the axle center of angular transducer and perpendicular rack
It installs with one heart in axle center；
Further, limit switch 5 is mechanical limit switch, and there are two limit switch 5 is set, two limit switches 5 divide
The starting point and ending point that trolley orbits An Zhuan not buffered；
The control method of buffering trolley includes the following steps：
Step 1：It plays perpendicular rack to have started to erect, starts the angle of output variation positioned at the angular transducer risen at perpendicular rack shaft
Information is spent, angle information is acquired by the data acquisition card 9 in control computer 1.
Step 2：Control computer 1 analyzed 9 collected angle information of data acquisition card, it is small that buffering is calculated
The position that vehicle should currently reach.
Step 3：Control computer 1 acquires the displacement information from displacement sensor 4 by data acquisition card 9, and calculating obtains
Position, travel direction and travel speed that trolley is presently in must be buffered.
Step 4：Control computer 1 carries out buffering trolley " position being presently in " and " position that should currently reach "
Compare calculating, obtains direction and traveling acceleration that buffering trolley should travel.If travel direction on the contrary, to undergo deceleration,
Stop and reversed accelerator.
Step 5：Control computer 1 will buffer the direction and traveling acceleration that trolley should travel, and be converted into frequency converter 2
Control instruction；And control instruction is sent to frequency converter 2 by 485 bus interface cards 10；Frequency converter 2 is converted to control instruction
Frequency variation signal is exported to motor 3；Motor 3 buffers trolley by transmission system drives and is moved forward and backward.
Step 6：Control computer 1 acquires the information from limit switch 5 by data acquisition card 9, if limit switch 5
It sends out useful signal or plays perpendicular gantry angle and stop variation, control computer 1 sends " shutdown " by 485 bus interface cards 10 and refers to
It enables to frequency converter 2, motor 3 stops power output, and buffering trolley freely stops, and otherwise, goes to step 2.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art on the basis of the present invention made by equivalent substitute or transformation, in the present invention
Protection domain within.Protection scope of the present invention is subject to claims.
Claims (8)
1. a kind of control system of electric cylinder test buffering trolley, it is characterised in that：Including control computer (1), the control
Computer (1) processed is used to receive the signal that limit sensing unit sends over and sends the signal by corresponding control algolithm
Give frequency converter (2), the frequency converter (2) that control instruction is converted to frequency variation signal and is delivered to motor (3), motor (3) band
Dynamic transmission system is to drive buffering trolley to be moved forward and backward on guide rail.
2. a kind of control system of electric cylinder test buffering trolley as described in claim 1, which is characterized in that the control
Computer (1) is equipped with data acquisition card (9) and 485 bus interface cards (10), is come from by the data acquisition card (9) acquisition
The signal of the limit sensing unit, the control computer (1) pass through the signal that acquisition comes by corresponding control algolithm
Control instruction is sent by 485 bus interface card (10) and gives the frequency converter (2).
3. a kind of control system of electric cylinder test buffering trolley as described in claim 1, which is characterized in that the limit
Sensing unit includes angular transducer, displacement sensor (4) and limit switch (5).
4. a kind of control system of electric cylinder test buffering trolley as described in claim 1, which is characterized in that the transmission
System includes speed reducer (6), sprocket wheel (7) and chain (8), and the speed reducer (6) is connected by transmission shaft with the motor (3)
It connects, the speed reducer (6) is connected by sprocket wheel (7) and chain (8) with driving wheel.
5. a kind of control system of electric cylinder test buffering trolley as claimed in claim 3, which is characterized in that the displacement
Sensor (4) is stay-supported type displacement sensor, and the ontology of institute's displacement sensors (4) is installed on buffering trolley and orbits
Starting point, the bracing wire end of displacement sensor (4) is fixed on buffering trolley.
6. a kind of control system of electric cylinder test buffering trolley as claimed in claim 3, which is characterized in that the angle
Sensor has been installed at perpendicular rack shaft, and the axle center of the angular transducer concentric is installed with the axle center for playing perpendicular rack.
7. a kind of control system of electric cylinder test buffering trolley as claimed in claim 3, which is characterized in that the limit
It is mechanical limit switch to switch (5), and there are two the limit switch (5) sets, two limit switches (5) are separately mounted to
The starting point and ending point that buffering trolley orbits.
8. a kind of control method of electric cylinder test buffering trolley as described in claim 1~7 any one, feature exist
In the control method includes the following steps：
Step 1：It plays perpendicular rack to have started to erect, starts the angle letter of output variation positioned at the angular transducer risen at perpendicular rack shaft
Breath, angle information are acquired by the data acquisition card (9) being located in the control computer (1).
Step 2：The data acquisition card (9) collected angle information is analyzed, is calculated by the control computer (1)
The position that should be currently reached to buffering trolley.
Step 3：The control computer (1) passes through position of the data acquisition card (9) acquisition from institute's displacement sensors (4)
Information is moved, calculates and obtains position, travel direction and travel speed that buffering trolley is presently in.
Step 4：The control computer (1) to buffering trolley " position being presently in " and " position that should currently reach " into
Row relatively calculates, and obtains direction and traveling acceleration that buffering trolley should travel.If travel direction subtracts on the contrary, to undergo
Speed, stopping and reversed accelerator.
Step 5：The control computer (1) will buffer the direction and traveling acceleration that trolley should travel, and be converted into described
The control instruction of frequency converter (2)；And control instruction is sent by 485 bus interface card (10) and gives the frequency converter (2)；Institute
It states frequency converter (2) control instruction is converted into frequency variation signal and export to the motor (3)；The motor (3) passes through the transmission
System drive buffers trolley and is moved forward and backward.
Step 6：The control computer (1) passes through letter of the data acquisition card (9) acquisition from the limit switch (5)
Breath, if limit switch (5), which sends out useful signal or plays perpendicular gantry angle, stops variation, the control computer (1) passes through institute
Stating 485 bus interface cards (10) transmission " shutdown " instruction gives the frequency converter (2), the motor (3) to stop power output, buffering
Trolley freely stops, and otherwise, goes to step 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810314226.7A CN108345319B (en) | 2018-04-10 | 2018-04-10 | Control system of buffering trolley for testing electric cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810314226.7A CN108345319B (en) | 2018-04-10 | 2018-04-10 | Control system of buffering trolley for testing electric cylinder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108345319A true CN108345319A (en) | 2018-07-31 |
| CN108345319B CN108345319B (en) | 2021-03-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810314226.7A Active CN108345319B (en) | 2018-04-10 | 2018-04-10 | Control system of buffering trolley for testing electric cylinder |
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| Country | Link |
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| CN (1) | CN108345319B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004210536A (en) * | 2003-01-08 | 2004-07-29 | Mitsubishi Electric Corp | Pit apparatus for elevator hoistway |
| CN102269191A (en) * | 2011-07-08 | 2011-12-07 | 北京机械设备研究所 | Dynamic compensation control method based on multi-stage oil cylinder erecting system |
| CN102351043A (en) * | 2011-07-27 | 2012-02-15 | 南京航空航天大学 | Sliding and controlled motion landing area |
| CN106372355A (en) * | 2016-09-14 | 2017-02-01 | 北京航空航天大学 | Universal erection load simulation device |
| CN107272747A (en) * | 2017-06-23 | 2017-10-20 | 北京机械设备研究所 | It is a kind of that perpendicular control system and control method are played based on multi-stage electric cylinder |
-
2018
- 2018-04-10 CN CN201810314226.7A patent/CN108345319B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004210536A (en) * | 2003-01-08 | 2004-07-29 | Mitsubishi Electric Corp | Pit apparatus for elevator hoistway |
| CN102269191A (en) * | 2011-07-08 | 2011-12-07 | 北京机械设备研究所 | Dynamic compensation control method based on multi-stage oil cylinder erecting system |
| CN102351043A (en) * | 2011-07-27 | 2012-02-15 | 南京航空航天大学 | Sliding and controlled motion landing area |
| CN106372355A (en) * | 2016-09-14 | 2017-02-01 | 北京航空航天大学 | Universal erection load simulation device |
| CN107272747A (en) * | 2017-06-23 | 2017-10-20 | 北京机械设备研究所 | It is a kind of that perpendicular control system and control method are played based on multi-stage electric cylinder |
Non-Patent Citations (1)
| Title |
|---|
| 高钦和: "大型装置起竖过程的电液比例控制研究", 《机械工程学报》 * |
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| Publication number | Publication date |
|---|---|
| CN108345319B (en) | 2021-03-12 |
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