CN108345319B - Control system of buffering trolley for testing electric cylinder - Google Patents
Control system of buffering trolley for testing electric cylinder Download PDFInfo
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- CN108345319B CN108345319B CN201810314226.7A CN201810314226A CN108345319B CN 108345319 B CN108345319 B CN 108345319B CN 201810314226 A CN201810314226 A CN 201810314226A CN 108345319 B CN108345319 B CN 108345319B
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- control computer
- trolley
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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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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a control system of a buffer trolley for testing an electric cylinder, which mainly solves the technical problem that the buffer trolley cannot timely arrive at a place where a vertical rack falls off in the electric cylinder testing process in the prior art.
Description
Technical Field
The invention relates to a control system of a buffer trolley for testing an electric cylinder.
Background
The electric cylinder is a device for converting the rotary motion of the motor into linear motion, has the advantages of accurately controlling the position, the speed and the thrust, and is widely applied to the fields of mechanical automation, industrial robots, automobiles and the like. In the process of developing and producing the electric cylinder, various performance parameters of the electric cylinder, such as maximum load, thrust, tension, stroke and the like, need to be tested. In the high-power erecting electric cylinder test process, the buffer trolley for the electric cylinder test is mainly used for supporting the erecting rack when the erecting rack is abnormally powered off and a motor brake fails in the erecting and leveling processes, absorbing the falling impact energy of the erecting rack, and preventing the stalling and falling of the erecting rack from damaging equipment and injuring personnel. In the process of erecting and leveling the erecting rack, the buffer trolley can select the optimal buffer point by moving the position of the buffer trolley. In order to achieve the best buffering effect, a control system of a buffering trolley for testing an electric cylinder is designed, the position of the buffering trolley is controlled and adjusted in real time according to the erecting angle of an erecting rack, the trolley is made to reach the best buffering position, and finally the purpose of safe buffering is achieved.
Disclosure of Invention
The invention aims to solve the technical problem that a buffer trolley cannot timely catch up to a place where a vertical rack falls off in the process of testing an electric cylinder in the prior art, and provides a novel control system of the buffer trolley for testing the electric cylinder.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a control system of a buffer trolley for testing an electric cylinder comprises a control computer, wherein the control computer is used for receiving a signal sent by a limiting sensing unit and sending the signal to a frequency converter through a corresponding control algorithm, the frequency converter converts a control instruction into a frequency conversion signal and transmits the frequency conversion signal to a motor, and the motor drives a transmission system to drive the buffer trolley to move back and forth on a guide rail.
Further, preferably, a signal acquisition card and a 485 bus interface card are arranged on the control computer, the signal acquisition card is used for acquiring signals from the limiting sensing unit, and the control computer is used for sending control instructions to the frequency converter through the 485 bus interface card through corresponding control algorithms according to the acquired signals.
Preferably, the limit sensing unit includes an angle sensor, a displacement sensor and a limit switch.
Preferably, the transmission system comprises a speed reducer, a chain wheel and a chain, the speed reducer is connected with the motor through a transmission shaft, and the speed reducer is connected with the driving wheel through the chain wheel and the chain.
More preferably, the displacement sensor is a pull-wire type displacement sensor, a body of the displacement sensor is mounted at a starting point of the buffer trolley running on the track, and a pull-wire end of the displacement sensor is fixed on the buffer trolley.
More preferably, the angle sensor is installed at a rotating shaft of the erecting rack, and an axis of the angle sensor is installed concentrically with an axis of the erecting rack.
More preferably, the limit switches are mechanical limit switches, two limit switches are arranged, and the two limit switches are respectively installed at a starting point and an end point of the buffer trolley running on the track.
More preferably, the control method includes the steps of:
step 1: and the erecting rack begins to erect, an angle sensor positioned at the rotating shaft of the erecting rack begins to output changed angle information, and the angle information is acquired by the signal acquisition card positioned on the control computer.
Step 2: and the control computer analyzes and calculates the angle information acquired by the signal acquisition card to obtain the current position of the buffer trolley.
And step 3: and the control computer acquires displacement information from the displacement sensor through the signal acquisition card and calculates and obtains the current position, the running direction and the running speed of the buffer trolley.
And 4, step 4: and the control computer compares and calculates the current position of the buffer trolley and the current position which should be reached to obtain the driving direction and the driving acceleration of the buffer trolley. If the driving direction is opposite, the processes of deceleration, stopping and reverse acceleration are carried out.
And 5: the control computer converts the running direction and running acceleration of the buffer trolley into a control instruction for the frequency converter; and sending a control instruction to the frequency converter through the 485 bus interface card; the frequency converter converts the control instruction into a frequency conversion signal and outputs the frequency conversion signal to the motor; the motor drives the buffer trolley to move back and forth through the transmission system.
Step 6: the control computer collects information from the limit switch through the signal acquisition card, if the limit switch sends an effective signal or the angle of the erecting rack stops changing, the control computer sends a stop command to the frequency converter through the 485 bus interface card, the motor stops outputting power, the buffer trolley stops freely, and otherwise, the step 2 is carried out.
The invention has the beneficial effects that: the limiting sensing unit limits the moving range of the buffer trolley and prevents the trolley from moving out of the working range; the position of the buffer trolley is monitored in real time through the limit sensing unit according to the angle information of the undercarriage; the invention processes the collected signals through the control computer, transmits the processed information to the frequency converter, transmits the processed information to the motor, and finally drives the buffer trolley through the transmission system by the motor so as to adjust the position of the buffer trolley, so that the trolley is positioned at the optimal buffer position, thereby achieving the purposes of improving the buffer performance and reducing the impact load.
Drawings
FIG. 1 is a system block diagram of a control system of a buffer trolley for testing an electric cylinder, which is disclosed by the invention;
FIG. 2 is a schematic structural diagram of a control system of the buffer trolley for testing the electric cylinder.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1 and 2, the embodiment discloses a control system of a buffer trolley for testing an electric cylinder, which includes a control computer 1, wherein the control computer 1 is arranged on the buffer trolley, the control computer 1 is provided with a signal acquisition card 9 and a 485 bus interface card 10, signals from a limit sensing unit are acquired through the signal acquisition card 9, and the limit sensing unit includes an angle sensor, a displacement sensor 4 and a limit switch 5;
the control computer 1 sends a control instruction to the frequency converter 2 through a 485 bus interface card 10 by a corresponding control algorithm, the control computer 1 is used for receiving a signal sent by the limit sensing unit and sending the signal to the frequency converter 2 through the corresponding control algorithm, the frequency converter 2 converts the control instruction into a variable frequency signal and transmits the variable frequency signal to the motor 3, the motor 3 drives a transmission system so as to drive the buffer trolley to move back and forth on the guide rail, the transmission system comprises a speed reducer 6, a chain wheel 7 and a chain 8, the speed reducer 6 is connected with the motor 3 through a transmission shaft, the speed reducer 6, the transmission shaft and the motor 3 are all arranged at the top of the buffer trolley, and the speed reducer 6 is connected with a driving wheel of the buffer trolley through the chain wheel 7 and the;
furthermore, the displacement sensor 4 is a stay wire type displacement sensor, the body of the displacement sensor 4 is arranged at the starting point of the buffer trolley running on the track, and the stay wire end of the displacement sensor 4 is fixed on the buffer trolley;
further, an angle sensor is arranged at the rotating shaft of the erecting rack, and the axis of the angle sensor and the axis of the erecting rack are concentrically arranged;
furthermore, the limit switches 5 are mechanical limit switches, two limit switches 5 are arranged, and the two limit switches 5 are respectively installed at the starting point and the ending point of the buffer trolley running on the track;
the control method of the buffer trolley comprises the following steps:
step 1: the erecting rack starts erecting, the angle sensor positioned at the rotating shaft of the erecting rack starts outputting the changed angle information, and the angle information is acquired by the signal acquisition card 9 positioned on the control computer 1.
Step 2: the control computer 1 analyzes and calculates the angle information acquired by the signal acquisition card 9 to obtain the current position to which the buffer trolley should arrive.
And step 3: the control computer 1 collects displacement information from the displacement sensor 4 through a signal acquisition card 9, and calculates and obtains the current position, the driving direction and the driving speed of the buffer trolley.
And 4, step 4: the control computer 1 compares and calculates the current position of the buffer trolley and the current position which should be reached to obtain the driving direction and the driving acceleration of the buffer trolley. If the driving direction is opposite, the processes of deceleration, stopping and reverse acceleration are carried out.
And 5: the control computer 1 converts the running direction and running acceleration of the buffer trolley into a control instruction for the frequency converter 2; and sends a control instruction to the frequency converter 2 through the 485 bus interface card 10; the frequency converter 2 converts the control instruction into a frequency conversion signal and outputs the frequency conversion signal to the motor 3; the motor 3 drives the buffer trolley to move back and forth through a transmission system.
Step 6: the control computer 1 collects information from the limit switch 5 through a signal acquisition card 9, if the limit switch 5 sends an effective signal or the angle of the erecting rack stops changing, the control computer 1 sends a stop command to the frequency converter 2 through a 485 bus interface card 10, the motor 3 stops outputting power, the buffer trolley stops freely, and otherwise, the step 2 is carried out.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (4)
1. A control method of a buffer trolley for testing an electric cylinder is characterized by comprising the following steps:
step 1: the erecting rack begins to erect, an angle sensor positioned at a rotating shaft of the erecting rack begins to output changed angle information, and the angle information is acquired by a signal acquisition card (9) positioned on a control computer (1);
step 2: the control computer (1) analyzes and calculates the angle information acquired by the signal acquisition card (9) to obtain the current position of the buffer trolley;
and step 3: the control computer (1) collects displacement information from the displacement sensor (4) through the signal acquisition card (9), and calculates and obtains the current position, the running direction and the running speed of the buffer trolley;
and 4, step 4: the control computer (1) compares and calculates the current position of the buffer trolley and the current position which the buffer trolley should arrive to obtain the running direction and the running acceleration of the buffer trolley; if the driving direction is opposite, the vehicle undergoes deceleration, stop and reverse acceleration processes;
and 5: the control computer (1) converts the running direction and running acceleration of the buffer trolley into a control instruction for the frequency converter (2), sends the control instruction to the frequency converter (2) through the 485 bus interface card (10), the frequency converter (2) converts the control instruction into a frequency conversion signal and outputs the frequency conversion signal to the motor (3), and the motor (3) drives the buffer trolley to move back and forth through the transmission system;
step 6: control computer (1) passes through signal acquisition card (9) gathers the information that comes from limit switch (5), if limit switch (5) send effective signal or erect the rack angle and stop changing, control computer (1) passes through 485 bus interface card (10) send "shut down" instruction give converter (2), motor (3) stop power output, buffering dolly freely stops, otherwise, changes step 2.
2. The control system for realizing the control method of the buffer trolley for the electric cylinder test according to claim 1 is characterized by comprising a control computer (1), wherein the control computer (1) is used for receiving a signal sent by a limit sensing unit and sending the signal to a frequency converter (2) through a corresponding control algorithm, the frequency converter (2) converts a control instruction into a frequency conversion signal and transmits the frequency conversion signal to a motor (3), and the motor (3) drives a transmission system so as to drive the buffer trolley to move back and forth on a guide rail;
the control computer (1) is provided with a signal acquisition card (9) and a 485 bus interface card (10), signals from the limiting sensing unit are acquired through the signal acquisition card (9), and the control computer (1) sends control instructions to the frequency converter (2) through the 485 bus interface card (10) according to corresponding control algorithms by the acquired signals;
the limit sensing unit comprises an angle sensor, a displacement sensor (4) and a limit switch (5);
the transmission system comprises a speed reducer (6), a chain wheel (7) and a chain (8), the speed reducer (6) is connected with the motor (3) through a transmission shaft, and the speed reducer (6) is connected with a driving wheel through the chain wheel (7) and the chain (8);
the angle sensor is installed at the rotating shaft of the erecting rack, and the axis of the angle sensor and the axis of the erecting rack are concentrically installed.
3. The control system according to claim 2, characterized in that the displacement sensor (4) is a pull wire type displacement sensor, the body of the displacement sensor (4) is mounted at the starting point of the buffer trolley running on the track, and the pull wire end of the displacement sensor (4) is fixed on the buffer trolley.
4. The control system according to claim 2, characterized in that the limit switches (5) are mechanical limit switches, and two limit switches (5) are provided, and the two limit switches (5) are respectively installed at the starting point and the ending point of the buffer trolley running on the track.
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 CN108345319A (en) | 2018-07-31 |
| CN108345319B true CN108345319B (en) | 2021-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810314226.7A Active CN108345319B (en) | 2018-04-10 | 2018-04-10 | Control system of buffering trolley for testing electric cylinder |
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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 |
|---|
| 大型装置起竖过程的电液比例控制研究;高钦和;《机械工程学报》;20040229;第40卷(第2期);第189-192页 * |
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