CN109406183A - A kind of experimental system of small flexible load stabilization drive control - Google Patents
A kind of experimental system of small flexible load stabilization drive control Download PDFInfo
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- CN109406183A CN109406183A CN201811357757.0A CN201811357757A CN109406183A CN 109406183 A CN109406183 A CN 109406183A CN 201811357757 A CN201811357757 A CN 201811357757A CN 109406183 A CN109406183 A CN 109406183A
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- flexible load
- driving device
- drive control
- measuring device
- experimental system
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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
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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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
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/007—Subject matter not provided for in other groups of this subclass by applying a load, e.g. for resistance or wear testing
Abstract
A kind of experimental system of small flexible load stabilization drive control, comprising: air floating table, flexible load, portal frame, driving device, transmission measuring device, dry gas source and controller；Flexible load is arranged on air floating table by floating cushion；Driving device is connected with transmission measuring device, flexible load, and driving device controls flexible load circular-rotation and upward-downward translation；It is driven measuring device and angle and torgue measurement is carried out to the output shaft of driving device, to control the axial deviation of driving device；Dry gas source is imported from transmission measuring device by pipeline and provides buoyancy for floating cushion；Controller provides driving device control, condition managing, data acquisition and the foundation and downloading of different Controlling models.According to experiment needs, the kinetic characteristics of flexible load are adjusted, and pass through the measured value of transmission measuring device, assess the stationarity of drive control, also in combination with flexible deformation detection device, dynamic measurement is carried out to the deformation of flexible load, improves the adequacy of driveability evaluation.
Description
Technical field
The present invention relates to the servo control technique research fields of flexible load, and in particular to a kind of small flexible load stabilization
The experimental system of drive control.
Background technique
The stabilized driving control technology of flexible structure mechanism is related to related such as Elasticity, Mechatronic Systems, SERVO CONTROL
Section has a wide range of applications in terms of robot control, large-scale antenna control, large-scale truss-like face.
Big flexible structure in engineering is then several meters usually few, greatly then tens meters, several hundred rice, by gravity and air drag etc.
It influences, to carry out its dynamics research and servo control technique research, it is larger by site influence.It is a kind of small therefore, it is necessary to design
The reliable pilot system of type, vibration equivalence, principle, for the test to flexible dynamics model and to Control System Design side
The verifying of case.
Summary of the invention
The application provides a kind of experimental system of small flexible load stabilization drive control, including air floating table, flexible load,
Portal frame, driving device, transmission measuring device, dry gas source and controller；
Gantry is aerial to be set to above air floating table；
Flexible load is arranged on air floating table by floating cushion；
Driving device is installed on portal frame, and driving device and transmission and test device, flexible load pass through shaft joint string
Connection, driving device control flexible load circular-rotation and upward-downward translation；
It is driven measuring device and angle measurement and torgue measurement is carried out to the output shaft of driving device, to control driving device
Axial deviation；
Dry gas source is imported from transmission measuring device by pipeline and provides buoyancy for floating cushion；
Controller provides building for the driving device control, condition managing, data sampling and processing and different Controlling models
Vertical and downloading.
In a kind of embodiment, flexible load includes: gas circuit tap and the muti-piece that connect with the gas circuit tap
The different latch plate of length, the end of latch plate are equipped with weight device, and the lower section of weight device is equipped with floating cushion.
In a kind of embodiment, driving device includes support construction, dovetail guide, slide unit, is adjusted axially index dial, driving electricity
Machine and planetary transmission；
Support construction is fixedly mounted on the gantry；
Dovetail guide is installed on the support structure；
Driving motor is fixed on slide unit after connecting with planetary reduction box；
Being adjusted axially index dial drives slide unit along dovetail guide upward-downward translation.
In a kind of embodiment, transmission measuring device includes angular encoder, commutation gas axis and torque sensor；
Planetary transmission, angular encoder, commutation gas axis, torque sensor and gas circuit tap successively lead to from top to bottom
Cross shaft joint connection.
In a kind of embodiment, dry gas source includes high-pressure pump and drying machine, and the gas of high-pressure pump output passes through drying
Machine input commutation gas axis, and enter floating cushion across torque sensor and gas circuit tap.
In a kind of embodiment, torque sensor is hollow torque sensor.
According to the experimental system of above-described embodiment, since driving device not only realizes that flexible load circle rotation is also able to achieve
Upward-downward translation can adjust the dynamic of flexible load according to experiment needs to realize 360 degree of continuous-stables rotation of flexible load
Mechanical characteristic also can adjust the transmission performance of driving device, and by the measured value of transmission measuring device, assess drive control
Stationarity can carry out dynamic measurement to the deformation of flexible load, improve driveability and comment also in combination with flexible deformation detection device
The adequacy of valence.
Detailed description of the invention
Fig. 1 is experimental system structure chart；
Fig. 2 is that flexible load and air floating table cooperate schematic diagram；
Fig. 3 is that driving device and transmission measuring device cooperate schematic diagram.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.
This example provides a kind of experimental system of small flexible load stabilization drive control, and structure chart is as shown in Figure 1, include
Air floating table 1, flexible load 2, portal frame 3, driving device 4, transmission measuring device 5, dry gas source and controller；Wherein, gantry
Frame 3 is set to 1 top of air floating table, and flexible load 2 is arranged on air floating table 1 by floating cushion 6, and driving device 4 is installed on portal frame 3
On, driving device 4 is connected with transmission and test device 5, flexible load 2 by shaft joint, and driving device 4 controls flexible load 2
Circular-rotation and upward-downward translation；It is driven measuring device 5 and angle measurement and torgue measurement is carried out to the output shaft of driving device 4, with
Control the axial deviation of driving device 4；It is that floating cushion 6 provides buoyancy that dry gas source, which is imported by pipeline from transmission measuring device 5,
Ensure to be formed air film between flexible load 2 and air floating table 1, it can be achieved that 2 bending deformation of flexible load；Controller provides driving device
4 controls, the foundation and downloading of condition managing, data sampling and processing and different Controlling models.
As shown in Fig. 2, flexible load 2 includes gas circuit tap 21 and the muti-piece length connecting with gas circuit tap 21
Different latch plates 22, the end of latch plate 22 are equipped with weight device 23, and the lower section of weight device 23 is equipped with floating cushion 6.
It according to actual needs, can be real by the weight device 23 of different-thickness, the latch plate 22 of different length and different weight
Now to the combine analog of the flexible load 2 of different frequency and inertia, when gas source is drawn by air delivering pipeline from gas circuit tap 21
Input floating cushion 6 provides buoyancy so that forming air film between flexible load 2 and air floating table 1 out.Using the method gas transmission, also examine
When having considered the rotation of flexible load 2 and flexible deformation, air delivering pipeline can be servo-actuated, and reduced air delivering pipeline and become to 2 elasticity of flexible load
Shape bring influences.
Driving device 4, the combination schematic diagram for being driven measuring device 5 are as shown in Figure 3, wherein driving device 4 includes support knot
Structure 41, slide unit 43, is adjusted axially index dial 44, driving motor 45 and planetary transmission 46 at dovetail guide 42；Support construction 41 is logical
It crosses bolt to be fixedly mounted on portal frame 3, and ensures that datum level is horizontal in support construction 41；Dovetail guide 42 is having positioning pin mark
It is mounted in support construction 41 on the basis of fixed；Driving motor 45 is fixed on slide unit 43 after connecting with planetary reduction box 46；Axis
It drives slide unit 43 along 42 upward-downward translation of dovetail guide to index dial 44 is adjusted, e.g., is adjusted axially index dial 44 and drives feed screw nut
43 upward-downward translation of slide unit is driven, to realize balance adjustment height.
Being driven measuring device 5 includes angular encoder 51, commutation gas axis 52 and torque sensor 53, wherein planet speed-change
Case 46, angular encoder 51, commutation gas axis 52, torque sensor 53 and gas circuit tap 21 pass sequentially through connecting shaft from top to bottom
Device 54 connects.Wherein, angular encoder 51, which can be realized, carries out angle measurement, torque sensor 53 to the output shaft of driving motor 45
It can be achieved to carry out torgue measurement to the output shaft of driving motor 45, controller can be according to angular encoder 51 and torque sensor 53
Measured value assessment driving motor 45 stationarity, e.g., controller acquisition angles encoder 51 measure angle and torque sensing
The moment information that device 53 measures, by servo closed control algorithm, real-time resolving rotary speed instruction makes driving motor 45 realize flexibility
The stable rotation of load 2, it should be noted that the torque sensor 53 of this example is preferably hollow torque sensor.
Stablize gas supply under pivot state in addition, realizing by commutation gas axis 52, specifically, dry gas source includes high pressure
The gas of air pump and drying machine, high-pressure pump output inputs commutation gas axis 52 by drying machine, and passes through shaft joint 54, torque biography
Sensor 53 and gas circuit tap 21, finally enter floating cushion 6, provide buoyancy, so that, air delivering pipeline can be servo-actuated, and be reduced defeated
Air pipe influences 2 flexible deformation bring of flexible load.
The workflow of the implementation system of this example are as follows: dry gas source is supplied to floating cushion 6, makes 2 floating of flexible load, is controlled
Device sends experimental system operating instruction, and driving motor 45 is rotated by instruction mode, what controller acquisition angles encoder 51 measured
The moment information that angle information and torque sensor 53 measure, and the servo closed control algorithm being introduced into controller, solve in real time
Rotary speed instruction is calculated, driving motor 45 realizes the stable rotation of flexible load 2.Flexible load 2 can be adjusted according to experiment needs
Kinetic characteristics also can adjust the transmission performance of planetary reduction box 46.Angular encoder 51 and torque sensor 53 can also be passed through
Measured value, assess the stationarity of drive control, also in combination with flexible deformation detection device, the deformation of flexible load moved
State measurement improves driveability and evaluates adequacy.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (6)
1. a kind of experimental system of small flexible load stabilization drive control characterized by comprising air floating table, flexible load,
Portal frame, driving device, transmission measuring device, dry gas source and controller；
The portal frame is set to above the air floating table；
The flexible load is arranged on the air floating table by floating cushion；
The driving device is installed on the portal frame, the driving device and the transmission and test device, flexible load
It is connected by shaft joint, the driving device controls the flexible load circular-rotation and upward-downward translation；
The transmission measuring device carries out angle measurement and torgue measurement to the output shaft of the driving device, to control the drive
The axial deviation of dynamic device；
The dry gas source is imported from the transmission measuring device by pipeline and provides buoyancy for the floating cushion；
The controller provides building for the driving device control, condition managing, data sampling and processing and different Controlling models
Vertical and downloading.
2. the experimental system of small flexible load stabilization drive control as described in claim 1, which is characterized in that the flexibility
Load includes: gas circuit tap and the latch plate different from the muti-piece length of gas circuit tap connection, the spring
The end of plate is equipped with weight device, and the lower section of the weight device is equipped with the floating cushion.
3. the experimental system of small flexible load stabilization drive control as claimed in claim 2, which is characterized in that the driving
Device includes support construction, dovetail guide, slide unit, is adjusted axially index dial, driving motor and planetary transmission；
The support construction is fixedly mounted on the portal frame；
The dovetail guide is mounted in the support construction；
The driving motor is fixed on the slide unit after connecting with planetary reduction box；
The index dial that is adjusted axially drives the slide unit along the dovetail guide upward-downward translation.
4. the experimental system of small flexible load stabilization drive control as claimed in claim 3, which is characterized in that the transmission
Measuring device includes angular encoder, commutation gas axis and torque sensor；
The planetary transmission, angular encoder, commutation gas axis, torque sensor and gas circuit tap successively lead to from top to bottom
Cross shaft joint connection.
5. the experimental system of small flexible load stabilization drive control as claimed in claim 4, which is characterized in that the drying
Gas source includes high-pressure pump and drying machine, and the gas of the high-pressure pump output inputs the commutation gas by the drying machine
Axis, and the torque sensor and gas circuit tap are passed through into the floating cushion.
6. the experimental system of small flexible load stabilization drive control as claimed in claim 5, which is characterized in that the torque
Sensor is hollow torque sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811357757.0A CN109406183B (en) | 2018-11-15 | 2018-11-15 | Small-size flexible load stabilizes drive control's experimental system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811357757.0A CN109406183B (en) | 2018-11-15 | 2018-11-15 | Small-size flexible load stabilizes drive control's experimental system |
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| CN109406183A true CN109406183A (en) | 2019-03-01 |
| CN109406183B CN109406183B (en) | 2020-06-19 |
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Citations (6)
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|---|---|---|---|---|
| SU1587371A1 (en) * | 1987-07-10 | 1990-08-23 | Институт механики и сейсмостойкости сооружений им.М.Т.Уразбаева | Bed for testing cotton-picking drum |
| CN104573325A (en) * | 2014-12-15 | 2015-04-29 | 南京航空航天大学 | Flexible structure shape wireless active control method and device |
| US20150161178A1 (en) * | 2009-12-07 | 2015-06-11 | Google Inc. | Distributed Image Search |
| CN106066244A (en) * | 2016-08-04 | 2016-11-02 | 程伟 | A kind of large inertia torsional flexibility load simulating device |
| CN106855466A (en) * | 2015-12-08 | 2017-06-16 | 上海宇航系统工程研究所 | A kind of big flexible load simulator of single-degree-of-freedom |
| CN106856384A (en) * | 2015-12-08 | 2017-06-16 | 上海宇航系统工程研究所 | Big flexible load servo-control system test and evaluation device |
-
2018
- 2018-11-15 CN CN201811357757.0A patent/CN109406183B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1587371A1 (en) * | 1987-07-10 | 1990-08-23 | Институт механики и сейсмостойкости сооружений им.М.Т.Уразбаева | Bed for testing cotton-picking drum |
| US20150161178A1 (en) * | 2009-12-07 | 2015-06-11 | Google Inc. | Distributed Image Search |
| CN104573325A (en) * | 2014-12-15 | 2015-04-29 | 南京航空航天大学 | Flexible structure shape wireless active control method and device |
| CN106855466A (en) * | 2015-12-08 | 2017-06-16 | 上海宇航系统工程研究所 | A kind of big flexible load simulator of single-degree-of-freedom |
| CN106856384A (en) * | 2015-12-08 | 2017-06-16 | 上海宇航系统工程研究所 | Big flexible load servo-control system test and evaluation device |
| CN106066244A (en) * | 2016-08-04 | 2016-11-02 | 程伟 | A kind of large inertia torsional flexibility load simulating device |
Non-Patent Citations (2)
| Title |
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| 丁有爽等: "伺服系统柔性负载建模方法研究", 《中国电机工程学报》 * |
| 张鹏等: "基于铰链结构的机械臂操作柔性负载系统建模与控制", 《吉林大学学报(工学版)》 * |
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