CN108748110A - A kind of space multi-freedom parallel connection driving force loading system teaching test stand - Google Patents
A kind of space multi-freedom parallel connection driving force loading system teaching test stand Download PDFInfo
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- CN108748110A CN108748110A CN201810767677.6A CN201810767677A CN108748110A CN 108748110 A CN108748110 A CN 108748110A CN 201810767677 A CN201810767677 A CN 201810767677A CN 108748110 A CN108748110 A CN 108748110A
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- hydraulic cylinder
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- loading system
- hooke
- pedestal
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- 238000012360 testing method Methods 0.000 title claims abstract description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
- 239000007788 liquid Substances 0.000 claims abstract description 8
- 238000011161 development Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 4
- 230000009977 dual effect Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 238000010998 test method Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 241000282376 Panthera tigris Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
A kind of space multi-freedom parallel connection driving force loading system teaching test stand, support column are fixed on the center of pedestal, are sequentially connected with wraping plate, six-dimension force sensor, moving platform at the top of support column；The both ends hydraulic cylinder A are connected with pedestal and wraping plate one end respectively by planar hinge；6 both ends hydraulic cylinder B are connected with pedestal and moving platform respectively by Hooke's hinge；Servo valve is installed at the middle part of hydraulic cylinder A, B, the bottoms hydraulic cylinder A, B are connected with displacement sensor bottom, are connected at the top of hydraulic cylinder A, B piston rod and displacement sensor, are connected with pull pressure sensor one end at the top of hydraulic cylinder A, B；The pull pressure sensor other end and the plane of connection liquid cylinder pressure A is hinged；The pull pressure sensor other end and the Hooke of connection liquid cylinder pressure B is hinged；Signal acquisition control system acquires the data of parallel institution electro-hydraulic servo driving force loading system.The present invention can be that the development of high-precision, high frequency sound space multi-freedom parallel connection driving force loading system is provided fundamental basis.
Description
Technical field
The present invention relates to parallel institution technical field, especially one kind be mainly used for space multiple degrees of freedom power load decoupling and
The space multi-freedom parallel connection of Collaborative Control research drives force loading system teaching experimental base.
Background technology
The advantages that parallel institution is high, inertia is small, bearing capacity is strong, error is not accumulated and precision is higher with rigidity, in parallel connection
Lathe, vibration environment simulation, road environment simulation, flight simulator, Level Multiple Degree of Freedom Structures load, micromotion mechanism and robot
The fields such as operation are widely used.Wherein hydraulic drive parallel mechanism large size movement and environment simulation test system,
The fields such as large-tonnage Level Multiple Degree of Freedom Structures load test system more occupy the status that can not be substituted.
Currently, there are degree of freedom output couplings serious, the coupling redundant force interference of hydraulic drive parallel mechanism, frequency response be low and Shandong
Stick stability difference problem affects its whole control performance, therefore carries out space multi-freedom parallel connection driving force loading system and grind
Study carefully and is of great significance.
Invention content
Present invention aims at provide a kind of space for space multiple degrees of freedom power load decoupling and Collaborative Control research
Multi-freedom parallel connection drives force loading system teaching test stand.
To achieve the above object, following technical scheme is used：Testing stand of the present invention, which includes that parallel institution is electro-hydraulic, to be watched
Clothes driving force loading system and signal acquisition control system；It includes pedestal, tiger that parallel institution electro-hydraulic servo, which drives force loading system,
Gram hinge, wraping plate, support column, servo valve, planar hinge, hydraulic cylinder A, 6 hydraulic cylinder B, displacement sensor, pull pressure sensor, six
Dimensional force sensor, moving platform；
The pedestal is fixed on the rack；Support column is fixed on the center of pedestal, is connected with wraping plate at the top of support column, wraping plate
It is connected with six-dimension force sensor, six-dimension force sensor is connected with moving platform；Hydraulic cylinder A is disposed therein the center of one group of Hooke's hinge
Between, the both ends hydraulic cylinder A are connected with pedestal and wraping plate one end respectively by planar hinge；Distinguished by Hooke's hinge at 6 both ends hydraulic cylinder B
It is connected with pedestal and moving platform；Servo valve, the bottoms hydraulic cylinder A, B and displacement sensor bottom are installed at the middle part of hydraulic cylinder A, B
It is connected, is connected at the top of hydraulic cylinder A, B piston rod and displacement sensor, is connected with pull pressure sensor one end at the top of hydraulic cylinder A, B；
The pull pressure sensor other end and the plane of connection liquid cylinder pressure A is hinged, which is mounted on wraping plate；Connection liquid cylinder pressure B
The pull pressure sensor other end be hinged with Hooke, the Hooke's hinge be mounted on moving platform on；
The signal acquisition control system is to be based on Labview/xPC Target (XPC systems) Rapid Control Prototype Development of Dual
Environment, using upper and lower machine by way of cable communication, wherein slave computer is industrial personal computer, and inside is equipped with Control card, carrying
Hydraulic cylinder displacement signal, loading system force signal and six-dimension force sensor signal are acquired by AD boards PCI1716, and servo valve drives
Dynamic signal is exported by DA boards PCI6208A, and digital quantity signal passes through Digital I/O board PCL731 acquisitions and output, whole system
Sampling period be fixed step size 1ms, host computer uses labview softwares to design man-machine interface for developing instrument, and passes through calling
Dynamic link library realizes the communication with slave computer；It includes that parallel institution is electro-hydraulic that the signal acquisition control system, which is erected at testing stand,
By servo-drive force loading system, the data of acquisition parallel institution electro-hydraulic servo driving force loading system.
Preferably, 6 Hooke's hinges are mounted on pedestal, are distributed on unified circumference, are divided into 3 groups, every group of 2 Hookes
It cuts with scissors, 120 ° each other of angle between angle is 30 °, every group between 2 Hooke's hinges in every group.
Preferably, hydraulic cylinder A, wraping plate, support column and six-dimension force sensor are removed, Stewart platforms is become and carries out in fact
It tests.
Preferably, the driving force load is realized by 6 hydraulic cylinder B；Test method is：Hydraulic cylinder A carries out position
Closed-loop control, 6 hydraulic cylinder B carry out power closed-loop control, and the XPC control systems are first by displacement signal, drawing on hydraulic cylinder
Pressure signal, sextuple force signal are converted through A/D converters, then carry out signal condition, then transfer data to host computer
Closed-loop control is carried out in Labview, control signal is after D/A is converted, then controls servo valve.
The course of work approximately as：
The signal acquisition control system is first by displacement signal, tension and compression force signal, sextuple force signal warp on hydraulic cylinder
A/D converters are converted, and then carry out signal condition, then transfer data to host computer Labview, input signal and feedback signal
It is converted through D/A after PID control after making the difference, then controls servo valve, the hydraulic cylinder A is made to carry out position closed loop, 6 hydraulic cylinders
B carries out independent power closed loop, for space multiple degrees of freedom power load decoupling and Collaborative Control research.
Compared with prior art, the invention has the advantages that：
1, system dynamics model is established, analysis output coupling characterization is established and is servo-actuated Modal Space, analyzes output coupling sheet
Sign is studied and is servo-actuated Modes Decoupling method, realizes control spatial channel independent control, realizes that high-performance is servo-actuated mode Collaborative Control.
2, the development of force loading system can be driven to provide fundamental basis for high-precision, high frequency sound space multi-freedom parallel connection.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the vertical view of the present invention.
Drawing reference numeral：1- moving platforms, 2- six-dimension force sensors, 3- Hooke's hinges, 4- pull pressure sensor, 5- hydraulic cylinders B, 6-
Displacement sensor, 7- servo valves, 8- support columns, 9- signal acquisition control systems, 10- wraping plates, 11- planar hinges, 12- hydraulic cylinders A,
13- pedestals.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings：
As shown in Figure 1, 2, testing stand of the present invention includes parallel institution electro-hydraulic servo driving force loading system and signal
Acquisition control system 9；It includes pedestal 13, Hooke's hinge 3, wraping plate 10, support column that parallel institution electro-hydraulic servo, which drives force loading system,
8, servo valve 7, planar hinge 11, hydraulic cylinder A12,6 hydraulic cylinder B5, displacement sensor 6, pull pressure sensor 4, six-dimensional force sensing
Device 2, moving platform 1；
The pedestal is fixed on the rack；Support column is fixed on the center of pedestal, is connected with wraping plate at the top of support column, wraping plate
It is connected with six-dimension force sensor, six-dimension force sensor is connected with moving platform；Hydraulic cylinder A is disposed therein the center of one group of Hooke's hinge
Between, the both ends hydraulic cylinder A are connected with pedestal and wraping plate one end respectively by planar hinge；Distinguished by Hooke's hinge at 6 both ends hydraulic cylinder B
It is connected with pedestal and moving platform；6 Hooke's hinges are mounted on pedestal, are distributed on unified circumference, are divided into 3 groups, every group 2
A Hooke's hinge, 120 ° each other of angle between angle is 30 °, every group between 2 Hooke's hinges in every group.At the middle part of hydraulic cylinder A, B
Servo valve is installed, the bottoms hydraulic cylinder A, B are connected with displacement sensor bottom, at the top of hydraulic cylinder A, B piston rod and displacement sensor
It is connected, is connected with pull pressure sensor one end at the top of hydraulic cylinder A, B；The pull pressure sensor other end of connection liquid cylinder pressure A with it is flat
Face is hinged, which is mounted on wraping plate；The pull pressure sensor other end and the Hooke of connection liquid cylinder pressure B is hinged, should
Hooke's hinge is mounted on moving platform；
The signal acquisition control system is to be based on Labview/xPC Target (XPC systems) Rapid Control Prototype Development of Dual
Environment, using upper and lower machine by way of cable communication, wherein slave computer is industrial personal computer, and inside is equipped with Control card, carrying
Hydraulic cylinder displacement signal, loading system force signal and six-dimension force sensor signal are acquired by AD boards PCI1716, and servo valve drives
Dynamic signal is exported by DA boards PCI6208A, and digital quantity signal passes through Digital I/O board PCL731 acquisitions and output, whole system
Sampling period be fixed step size 1ms, host computer uses labview softwares to design man-machine interface for developing instrument, and passes through calling
Dynamic link library realizes the communication with slave computer；It includes that parallel institution is electro-hydraulic that the signal acquisition control system, which is erected at testing stand,
By servo-drive force loading system, the data of acquisition parallel institution electro-hydraulic servo driving force loading system.
After removing hydraulic cylinder A, wraping plate, support column and six-dimension force sensor, Stewart platforms are become, other are carried out
Experiment.
The driving force load is realized by 6 hydraulic cylinder B；Test method is：Hydraulic cylinder A carries out position closed loop control
System, 6 hydraulic cylinder B carry out power closed-loop control, and the XPC control systems first believe displacement signal, pressure on hydraulic cylinder
Number, sextuple force signal converted through A/D converters, then carry out signal condition, then transfer data in host computer Labview into
Row closed-loop control, control signal is after D/A is converted, then controls servo valve.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
It encloses and is defined, under the premise of not departing from design spirit of the present invention, technical side of the those of ordinary skill in the art to the present invention
The various modifications and improvement that case is made should all be fallen into the protection domain of claims of the present invention determination.
Claims (4)
1. a kind of space multi-freedom parallel connection drives force loading system teaching test stand, it is characterised in that：The testing stand includes
Parallel institution electro-hydraulic servo drives force loading system and signal acquisition control system；Parallel institution electro-hydraulic servo driving force load system
System includes pedestal, Hooke's hinge, wraping plate, support column, servo valve, planar hinge, hydraulic cylinder A, 6 hydraulic cylinder B, displacement sensor, drawings
Pressure sensor, six-dimension force sensor, moving platform；
The pedestal is fixed on the rack；Support column is fixed on the center of pedestal, is connected with wraping plate at the top of support column, wraping plate and six
Dimensional force sensor is connected, and six-dimension force sensor is connected with moving platform；Hydraulic cylinder A is disposed therein the middle of one group of Hooke's hinge,
The both ends hydraulic cylinder A are connected with pedestal and wraping plate one end respectively by planar hinge；6 both ends hydraulic cylinder B by Hooke's hinge respectively with
Pedestal is connected with moving platform；Servo valve, the bottoms hydraulic cylinder A, B and displacement sensor bottom phase are installed at the middle part of hydraulic cylinder A, B
Even, it is connected at the top of hydraulic cylinder A, B piston rod and displacement sensor, is connected with pull pressure sensor one end at the top of hydraulic cylinder A, B；Even
The pull pressure sensor other end for meeting hydraulic cylinder A is hinged with plane, which is mounted on wraping plate；Connection liquid cylinder pressure B's
The pull pressure sensor other end is hinged with Hooke, which is mounted on moving platform；
The signal acquisition control system is to be based on Labview/xPC Target (XPC systems) Rapid Control Prototype Development of Dual ring
Border, using upper and lower machine by way of cable communication, wherein slave computer is industrial personal computer, and inside is equipped with Control card, liquid carrying
Cylinder pressure displacement signal, loading system force signal and six-dimension force sensor signal are acquired by AD boards PCI1716, servo valve driving
Signal is exported by DA boards PCI6208A, and digital quantity signal is by Digital I/O board PCL731 acquisitions and exports, whole system
Sampling period is fixed step size 1ms, and host computer uses labview softwares to design man-machine interface for developing instrument, and dynamic by calling
State chained library realizes the communication with slave computer；The signal acquisition control system is erected at testing stand, and to include that parallel institution is electro-hydraulic watch
By clothes driving force loading system, the data of acquisition parallel institution electro-hydraulic servo driving force loading system.
2. a kind of space multi-freedom parallel connection according to claim 1 drives force loading system teaching test stand, feature
It is：6 Hooke's hinges are mounted on pedestal, are distributed on unified circumference, are divided into 3 groups, every group of 2 Hooke's hinges, and 2 in every group
120 ° each other of angle between angle is 30 °, every group between a Hooke's hinge.
3. a kind of space multi-freedom parallel connection according to claim 1 drives force loading system teaching test stand, feature
It is：Hydraulic cylinder A, wraping plate, support column and six-dimension force sensor are removed, Stewart platforms is become and is tested.
4. a kind of space multi-freedom parallel connection according to claim 1 drives force loading system teaching test stand, feature
It is：The driving force load is realized by 6 hydraulic cylinder B；Test method is：Hydraulic cylinder A progress position-force controls, 6
A hydraulic cylinder B carries out power closed-loop control, and the XPC control systems are first by displacement signal, tension and compression force signal, six on hydraulic cylinder
It ties up force signal to convert through A/D converters, then carries out signal condition, then transfer data in host computer Labview and closed
Ring controls, and control signal is after D/A is converted, then controls servo valve.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810767677.6A CN108748110B (en) | 2018-07-13 | 2018-07-13 | Teaching test stand of space multi-degree-of-freedom parallel driving force loading system |
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| CN201810767677.6A CN108748110B (en) | 2018-07-13 | 2018-07-13 | Teaching test stand of space multi-degree-of-freedom parallel driving force loading system |
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| CN108748110A true CN108748110A (en) | 2018-11-06 |
| CN108748110B CN108748110B (en) | 2023-10-27 |
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Cited By (5)
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| CN109545038A (en) * | 2018-12-05 | 2019-03-29 | 南京航空航天大学 | A kind of general posture demonstration platform of aircraft and teaching system |
| CN112230613A (en) * | 2020-10-20 | 2021-01-15 | 燕山大学 | Intelligent control system for distributed electro-hydraulic actuator of rolling production line |
| CN113053204A (en) * | 2021-04-06 | 2021-06-29 | 河南科技大学 | Electro-hydraulic hybrid-driven high-load six-degree-of-freedom motion platform |
| CN113554928A (en) * | 2021-07-27 | 2021-10-26 | 西安航空学院 | Teaching system based on internet hydraulic servo control system |
| CN114199598A (en) * | 2021-11-19 | 2022-03-18 | 清华大学 | High-frequency cutting force dynamic simulation loading device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113554928A (en) * | 2021-07-27 | 2021-10-26 | 西安航空学院 | Teaching system based on internet hydraulic servo control system |
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| CN114199598B (en) * | 2021-11-19 | 2023-03-10 | 清华大学 | High-frequency cutting force dynamic simulation loading device |
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| CN108748110B (en) | 2023-10-27 |
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