CN108748110B - Teaching test stand of space multi-degree-of-freedom parallel driving force loading system - Google Patents
Teaching test stand of space multi-degree-of-freedom parallel driving force loading system Download PDFInfo
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- CN108748110B CN108748110B CN201810767677.6A CN201810767677A CN108748110B CN 108748110 B CN108748110 B CN 108748110B CN 201810767677 A CN201810767677 A CN 201810767677A CN 108748110 B CN108748110 B CN 108748110B
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- 238000012360 testing method Methods 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 20
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- 238000011161 development Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000003750 conditioning effect Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
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- 238000002474 experimental method Methods 0.000 description 2
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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
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- 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
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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
- 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
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- 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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
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- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The teaching test bed of the space multi-degree-of-freedom parallel driving force loading system is characterized in that a support column is fixed at the center of a base, and the top of the support column is sequentially connected with a wane, a six-dimensional force sensor and a movable platform; two ends of the hydraulic cylinder A are respectively connected with the base and one end of the rocker through plane hinges; two ends of the 6 hydraulic cylinders B are respectively connected with the base and the movable platform through Hooke hinges; a servo valve is arranged in the middle of the hydraulic cylinder A, B, the bottom of the hydraulic cylinder A, B is connected with the bottom of the displacement sensor, a piston rod of the hydraulic cylinder A, B is connected with the top of the displacement sensor, and the top of the hydraulic cylinder A, B is connected with one end of the tension pressure sensor; the other end of the pull pressure sensor connected with the hydraulic cylinder A is hinged with the plane; the other end of the pull pressure sensor connected with the hydraulic cylinder B is connected with a Hooke hinge; the signal acquisition control system acquires data of an electrohydraulic servo driving force loading system of the parallel mechanism. The invention can provide theoretical basis for the development of a high-precision high-frequency response space multi-degree-of-freedom parallel driving force loading system.
Description
Technical Field
The invention relates to the technical field of parallel mechanisms, in particular to a teaching experiment table of a space multi-degree-of-freedom parallel driving force loading system, which is mainly used for space multi-degree-of-freedom force loading decoupling and cooperative control research.
Background
The parallel mechanism has the advantages of high rigidity, small inertia, strong bearing capacity, no error accumulation, higher precision and the like, and is widely applied to the fields of parallel machine tools, vibration environment simulation, road environment simulation, flight simulators, multi-degree-of-freedom structure loading, micro-motion mechanisms, robot operation and the like. The hydraulic drive parallel mechanism occupies an irreplaceable position in the fields of large-scale motion and environment simulation test systems, large-tonnage multi-degree-of-freedom structure loading test systems and the like.
At present, the hydraulic drive parallel mechanism has the problems of serious degree of freedom output coupling, excessive coupling force interference, low frequency response and poor robust stability, and influences the overall control performance of the hydraulic drive parallel mechanism, so that the hydraulic drive parallel mechanism has important significance in the research of a space multi-degree-of-freedom parallel driving force loading system.
Disclosure of Invention
The invention aims to provide a teaching test bed of a space multi-degree-of-freedom parallel driving force loading system for space multi-degree-of-freedom force loading decoupling and cooperative control research.
In order to achieve the above purpose, the following technical scheme is adopted: the test bed comprises a parallel mechanism electrohydraulic servo driving force loading system and a signal acquisition control system; the parallel mechanism electrohydraulic servo driving force loading system comprises a base, a Hooke hinge, a wane, a support column, a servo valve, a plane hinge, a hydraulic cylinder A, 6 hydraulic cylinders B, a displacement sensor, a pull pressure sensor, a six-dimensional force sensor and a movable platform;
the base is fixed on the frame; the support column is fixed in the center of the base, the top of the support column is connected with the seesaw, the seesaw is connected with the six-dimensional force sensor, and the six-dimensional force sensor is connected with the movable platform; the hydraulic cylinder A is arranged in the middle of one group of Hooke hinges, and two ends of the hydraulic cylinder A are respectively connected with the base and one end of the rocker through plane hinges; two ends of the 6 hydraulic cylinders B are respectively connected with the base and the movable platform through Hooke hinges; a servo valve is arranged in the middle of the hydraulic cylinder A, B, the bottom of the hydraulic cylinder A, B is connected with the bottom of the displacement sensor, a piston rod of the hydraulic cylinder A, B is connected with the top of the displacement sensor, and the top of the hydraulic cylinder A, B is connected with one end of the tension pressure sensor; the other end of the pull pressure sensor connected with the hydraulic cylinder A is connected with a plane hinge which is arranged on the rocker; the other end of the pull pressure sensor connected with the hydraulic cylinder B is connected with a Hooke hinge which is arranged on the movable platform;
the signal acquisition control system is based on Labview/xPC Target (XPC system) to rapidly control a prototype development environment, an upper computer and a lower computer are in a network communication mode, wherein the lower computer is an industrial personal computer, a control board is arranged in the lower computer, a load hydraulic cylinder displacement signal, a loading system force signal and a six-dimensional force sensor signal are acquired through an AD board PCI1716, a servo valve driving signal is output by a DA board PCI6208A, a digital quantity signal is acquired and output through a digital IO board PCL731, the sampling period of the whole system is a fixed step length of 1ms, the upper computer adopts Labview software as a development tool to design a man-machine interface, and communication with the lower computer is realized by calling a dynamic link library; the signal acquisition control system is arranged beside the test bed, which comprises a parallel mechanism electrohydraulic servo driving force loading system, and acquires data of the parallel mechanism electrohydraulic servo driving force loading system.
Preferably, 6 hook joints are arranged on the base and distributed on a uniform circumference, and are divided into 3 groups, wherein each group comprises 2 hook joints, the included angle between the 2 hook joints in each group is 30 degrees, and the included angle between each group is 120 degrees.
Preferably, the hydraulic cylinder A, the wane, the support column and the six-dimensional force sensor are removed, and the test can be changed into a Stewart platform for test.
Preferably, the driving force loading is realized through 6 hydraulic cylinders B; the testing method comprises the following steps: the hydraulic cylinder A performs position closed-loop control, the 6 hydraulic cylinders B perform force closed-loop control, the XPC control system firstly converts displacement signals, pulling pressure signals and six-dimensional force signals on the hydraulic cylinders through an A/D converter, then performs signal conditioning, then transmits data to an upper computer Labview for closed-loop control, and controls a servo valve after D/A conversion of control signals.
The working process is approximately as follows:
the signal acquisition control system firstly converts displacement signals, pulling pressure signals and six-dimensional force signals on the hydraulic cylinders through an A/D converter, then carries out signal conditioning, then transmits data to an upper computer Labview, carries out PID control on input signals and feedback signals, then carries out D/A conversion, and then controls a servo valve, so that the hydraulic cylinders A carry out position closed loop, and the 6 hydraulic cylinders B carry out independent force closed loop for space multi-degree-of-freedom force loading decoupling and cooperative control research.
Compared with the prior art, the invention has the following advantages:
1. and (3) establishing a system dynamics model, analyzing output coupling characterization, establishing a follow-up mode space, analyzing output coupling eigenvalues, researching a follow-up mode decoupling method, realizing independent control of a control space channel and realizing high-performance follow-up mode cooperative control.
2. The method can provide a theoretical basis for the development of a high-precision high-frequency response space multi-degree-of-freedom parallel driving force loading system.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a top view of the present invention.
Reference numerals: the device comprises a 1-movable platform, a 2-six-dimensional force sensor, a 3-Hooke hinge, a 4-pull pressure sensor, a 5-hydraulic cylinder B, a 6-displacement sensor, a 7-servo valve, an 8-support column, a 9-signal acquisition control system, a 10-rocker, a 11-plane hinge, a 12-hydraulic cylinder A and a 13-base.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1 and 2, the test bed of the invention comprises a parallel mechanism electrohydraulic servo driving force loading system and a signal acquisition control system 9; the parallel mechanism electrohydraulic servo driving force loading system comprises a base 13, a hook joint 3, a rocker 10, a support column 8, a servo valve 7, a plane joint 11, a hydraulic cylinder A12, 6 hydraulic cylinders B5, a displacement sensor 6, a tension pressure sensor 4, a six-dimensional force sensor 2 and a movable platform 1;
the base is fixed on the frame; the support column is fixed in the center of the base, the top of the support column is connected with the seesaw, the seesaw is connected with the six-dimensional force sensor, and the six-dimensional force sensor is connected with the movable platform; the hydraulic cylinder A is arranged in the middle of one group of Hooke hinges, and two ends of the hydraulic cylinder A are respectively connected with the base and one end of the rocker through plane hinges; two ends of the 6 hydraulic cylinders B are respectively connected with the base and the movable platform through Hooke hinges; the 6 hook joints are arranged on the base and distributed on the unified circumference, the three hook joints are divided into 3 groups, each group of 2 hook joints, the included angle between the 2 hook joints in each group is 30 degrees, and the included angle between each group is 120 degrees. A servo valve is arranged in the middle of the hydraulic cylinder A, B, the bottom of the hydraulic cylinder A, B is connected with the bottom of the displacement sensor, a piston rod of the hydraulic cylinder A, B is connected with the top of the displacement sensor, and the top of the hydraulic cylinder A, B is connected with one end of the tension pressure sensor; the other end of the pull pressure sensor connected with the hydraulic cylinder A is connected with a plane hinge which is arranged on the rocker; the other end of the pull pressure sensor connected with the hydraulic cylinder B is connected with a Hooke hinge which is arranged on the movable platform;
the signal acquisition control system is based on Labview/xPC Target (XPC system) to rapidly control a prototype development environment, an upper computer and a lower computer are in a network communication mode, wherein the lower computer is an industrial personal computer, a control board is arranged in the lower computer, a load hydraulic cylinder displacement signal, a loading system force signal and a six-dimensional force sensor signal are acquired through an AD board PCI1716, a servo valve driving signal is output by a DA board PCI6208A, a digital quantity signal is acquired and output through a digital IO board PCL731, the sampling period of the whole system is a fixed step length of 1ms, the upper computer adopts Labview software as a development tool to design a man-machine interface, and communication with the lower computer is realized by calling a dynamic link library; the signal acquisition control system is arranged beside the test bed, which comprises a parallel mechanism electrohydraulic servo driving force loading system, and acquires data of the parallel mechanism electrohydraulic servo driving force loading system.
After the hydraulic cylinder A, the wane, the support column and the six-dimensional force sensor are removed, the hydraulic cylinder A, the wane, the support column and the six-dimensional force sensor can be changed into a Stewart platform, and other experiments are carried out.
The driving force loading is realized through 6 hydraulic cylinders B; the testing method comprises the following steps: the hydraulic cylinder A performs position closed-loop control, the 6 hydraulic cylinders B perform force closed-loop control, the XPC control system firstly converts displacement signals, pulling pressure signals and six-dimensional force signals on the hydraulic cylinders through an A/D converter, then performs signal conditioning, then transmits data to an upper computer Labview for closed-loop control, and controls a servo valve after D/A conversion of control signals.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the design of the present invention.
Claims (4)
1. A space multi-freedom parallel driving force loading system teaching test bed is characterized in that: the test bed comprises a parallel mechanism electrohydraulic servo driving force loading system and a signal acquisition control system; the parallel mechanism electrohydraulic servo driving force loading system comprises a base, a Hooke hinge, a wane, a support column, a servo valve, a plane hinge, a hydraulic cylinder A, 6 hydraulic cylinders B, a displacement sensor, a pull pressure sensor, a six-dimensional force sensor and a movable platform;
the base is fixed on the frame; the support column is fixed in the center of the base, the top of the support column is connected with the seesaw, the seesaw is connected with the six-dimensional force sensor, and the six-dimensional force sensor is connected with the movable platform; the hydraulic cylinder A is arranged in the middle of one group of Hooke hinges, and two ends of the hydraulic cylinder A are respectively connected with the base and one end of the rocker through plane hinges; two ends of the 6 hydraulic cylinders B are respectively connected with the base and the movable platform through Hooke hinges; a servo valve is arranged in the middle of the hydraulic cylinder A, B, the bottom of the hydraulic cylinder A, B is connected with the bottom of the displacement sensor, a piston rod of the hydraulic cylinder A, B is connected with the top of the displacement sensor, and the top of the hydraulic cylinder A, B is connected with one end of the tension pressure sensor; the other end of the pull pressure sensor connected with the hydraulic cylinder A is connected with a plane hinge which is arranged on the rocker; the other end of the pull pressure sensor connected with the hydraulic cylinder B is connected with a Hooke hinge which is arranged on the movable platform;
the signal acquisition control system is based on Labview/xPC Target rapid control prototype development environment, an upper computer and a lower computer are in a network communication mode, wherein the lower computer is an industrial personal computer, a control board is arranged in the lower computer, a load hydraulic cylinder displacement signal, a loading system force signal and a six-dimensional force sensor signal are acquired through an AD board PCI1716, a servo valve driving signal is output by a DA board PCI6208A, a digital quantity signal is acquired and output through a digital IO board PCL731, the sampling period of the whole system is a fixed step length of 1ms, the upper computer adopts Labview software to design a man-machine interface for a development tool, and communication with the lower computer is realized by calling a dynamic link library; the signal acquisition control system is arranged beside the test bed, which comprises a parallel mechanism electrohydraulic servo driving force loading system, and acquires data of the parallel mechanism electrohydraulic servo driving force loading system.
2. The teaching test stand of the spatial multi-degree-of-freedom parallel driving force loading system according to claim 1, wherein the teaching test stand is characterized in that: the 6 hook joints are arranged on the base and distributed on the uniform circumference, and are divided into 3 groups of 2 hook joints, wherein the included angle between the 2 hook joints in each group is 30 degrees, and the included angle between the groups is 120 degrees.
3. The teaching test stand of the spatial multi-degree-of-freedom parallel driving force loading system according to claim 1, wherein the teaching test stand is characterized in that: the hydraulic cylinder A, the wane, the support column and the six-dimensional force sensor are removed, and the test can be changed into a Stewart platform for the test.
4. The teaching test stand of the spatial multi-degree-of-freedom parallel driving force loading system according to claim 1, wherein the teaching test stand is characterized in that: the driving force loading is realized through 6 hydraulic cylinders B; the testing method comprises the following steps: the hydraulic cylinders A perform position closed-loop control, the 6 hydraulic cylinders B perform force closed-loop control, the Labview/xPC Target rapid control prototype development environment firstly converts displacement signals, pulling pressure signals and six-dimensional force signals on the hydraulic cylinders through an A/D converter, then performs signal conditioning, then transmits data to an upper computer Labview for closed-loop control, and controls a servo valve after D/A conversion of control signals.
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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 |
| CN114199598B (en) * | 2021-11-19 | 2023-03-10 | 清华大学 | High-frequency cutting force dynamic simulation loading device |
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| US7606690B2 (en) * | 2001-12-18 | 2009-10-20 | Nhk International Corporation | Method and apparatus for modeling coil springs using a force field generator |
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