CN109406183B - Small-size flexible load stabilizes drive control's experimental system - Google Patents
Small-size flexible load stabilizes drive control's experimental system Download PDFInfo
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- CN109406183B CN109406183B CN201811357757.0A CN201811357757A CN109406183B CN 109406183 B CN109406183 B CN 109406183B CN 201811357757 A CN201811357757 A CN 201811357757A CN 109406183 B CN109406183 B CN 109406183B
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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
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- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
An experimental system for small flexible load stabilization drive control, comprising: the device comprises an air floating platform, a flexible load, a portal frame, a driving device, a transmission measuring device, a drying air source and a controller; the flexible load is arranged on the air floating platform through the air floating cushion; the driving device is connected with the transmission measuring device and the flexible load in series, and controls the flexible load to rotate circumferentially and translate up and down; the transmission measuring device measures the angle and the moment of an output shaft of the driving device so as to control the axial deviation of the driving device; a dry air source is led in from the transmission measuring device through a pipeline to provide buoyancy for the air flotation cushion; the controller provides drive device control, state management, data acquisition and establishment and downloading of different control models. According to the experimental requirements, the dynamic characteristics of the flexible load are adjusted, the stability of the driving control is evaluated through the measured value of the transmission measuring device, the deformation of the flexible load can be dynamically measured by combining elastic deformation detection equipment, and the driving performance evaluation sufficiency is improved.
Description
Technical Field
The invention relates to the technical field of flexible load servo control, in particular to a small flexible load stable drive control experiment system.
Background
The stable driving control technology of the flexible structure mechanism relates to related subjects such as elastic mechanics, electromechanical systems, servo control and the like, and has wide application prospects in the aspects of robot control, large-scale antenna control, large-scale truss profile maintenance and the like.
The large flexible structure in engineering is usually few meters and dozens of meters and hundreds of meters, is influenced by gravity, air resistance and the like, and the dynamic research and the servo control technology research are required to be carried out, so that the influence of the field is large. Therefore, there is a need to design a compact, kinetically equivalent, principle-reliable test system for testing flexible kinetic models and validating control system design solutions.
Disclosure of Invention
The application provides an experimental system for stable driving control of a small flexible load, which comprises an air floating platform, the flexible load, a portal frame, a driving device, a transmission measuring device, a drying air source and a controller;
the gantry is arranged above the air floating platform in an overhead manner;
the flexible load is arranged on the air floating platform through the air floating cushion;
the driving device is arranged on the portal frame, the driving device is connected with the transmission and test device and the flexible load in series through the coupling, and the driving device controls the flexible load to rotate circumferentially and move up and down;
the transmission measuring device is used for carrying out angle measurement and moment measurement on an output shaft of the driving device so as to control the axial deviation of the driving device;
a dry air source is led in from the transmission measuring device through a pipeline to provide buoyancy for the air flotation cushion;
the controller provides control, state management, data acquisition and processing of the driving device and establishment and downloading of different control models.
In one embodiment, the flexible load comprises: the gas circuit shunt joint and with the spring plate that the polylith length is different that gas circuit shunt joint connects, the tip of spring plate is equipped with the counter weight, and the below of counter weight is equipped with the air supporting pad.
In one embodiment, the driving device comprises a supporting structure, a dovetail guide rail, a sliding table, an axial adjusting dividing disc, a driving motor and a planetary gearbox;
the supporting structure is fixedly arranged on the portal frame;
the dovetail guide rail is arranged on the supporting structure;
the driving motor is connected with the planetary reduction gearbox in series and then fixed on the sliding table;
the axial adjusting indexing disc drives the sliding table to move up and down along the dovetail guide rail.
In one embodiment, the transmission measuring device comprises an angle encoder, a reversing air shaft and a torque sensor;
the planetary gearbox, the angle encoder, the reversing air shaft, the torque sensor and the air path shunt joint are sequentially connected through the coupling from top to bottom.
In one embodiment, the drying air source comprises a high-pressure air pump and a dryer, and air output by the high-pressure air pump is input into the reversing air shaft through the dryer and enters the air floating cushion through the torque sensor and the air path flow dividing joint.
In one embodiment, the torque sensor is a hollow torque sensor.
According to the experimental system of the embodiment, the driving device not only realizes the circumferential rotation of the flexible load, but also can realize the up-and-down translation so as to realize the 360-degree continuous and stable rotation of the flexible load, the dynamic characteristics of the flexible load can be adjusted according to the experimental requirements, the transmission performance of the driving device can also be adjusted, the stability of driving control is evaluated through the measurement value of the transmission measuring device, and the dynamic measurement can be carried out on the deformation of the flexible load by combining with the elastic deformation detection equipment, so that the sufficiency of the driving performance evaluation is improved.
Drawings
FIG. 1 is a diagram of the structure of an experimental system;
FIG. 2 is a schematic view of the flexible load and air bearing table;
fig. 3 is a schematic diagram of the combination of the driving device and the transmission measuring device.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
The embodiment provides an experimental system for stable driving control of a small flexible load, the structure diagram of which is shown in fig. 1, and the experimental system comprises an air floating table 1, a flexible load 2, a portal frame 3, a driving device 4, a transmission measuring device 5, a drying air source and a controller; the gantry frame 3 is arranged above the air floating platform 1, the flexible load 2 is arranged on the air floating platform 1 through an air floating cushion 6, the driving device 4 is installed on the gantry frame 3, the driving device 4 is connected with the transmission and test device 5 and the flexible load 2 in series through a coupling, and the driving device 4 controls the flexible load 2 to rotate circumferentially and translate up and down; the transmission measuring device 5 measures the angle and the moment of the output shaft of the driving device 4 so as to control the axial deviation of the driving device 4; a dry air source is led in from the transmission measuring device 5 through a pipeline to provide buoyancy for the air floating pad 6, so that an air film is formed between the flexible load 2 and the air floating platform 1, and the bending deformation of the flexible load 2 can be realized; the controller provides control of the drive device 4, status management, data acquisition, processing, and the establishment and downloading of different control models.
As shown in fig. 2, the flexible load 2 includes an air path shunt joint 21 and a plurality of spring plates 22 of different lengths connected to the air path shunt joint 21, a weight 23 is disposed at an end of each spring plate 22, and an air-float cushion 6 is disposed below the weight 23.
According to actual needs, the combined simulation of the flexible loads 2 with different frequencies and inertia can be realized through the spring plates 22 with different thicknesses and lengths and the counter weights 23 with different weights, and when an air source is led out of the air path shunt joint 21 through an air transmission pipeline to the input air floating cushion 6, an air film is formed between the flexible loads 2 and the air floating platform 1 to provide buoyancy. By adopting the method for gas transmission, the gas transmission pipeline can follow up when the flexible load 2 rotates and elastically deforms, and the influence of the gas transmission pipeline on the elastic deformation of the flexible load 2 is reduced.
A combined schematic diagram of the driving device 4 and the transmission measuring device 5 is shown in fig. 3, wherein the driving device 4 comprises a supporting structure 41, a dovetail guide rail 42, a sliding table 43, an axial adjusting indexing disc 44, a driving motor 45 and a planetary gearbox 46; the supporting structure 41 is fixedly arranged on the portal frame 3 through bolts, and the level of a reference surface on the supporting structure 41 is ensured; the dovetail guide rail 42 is arranged on the supporting structure 41 on the basis of calibration by a positioning pin; the driving motor 45 is connected with the planetary reduction gearbox 46 in series and then fixed on the sliding table 43; the axial adjustment indexing disc 44 drives the sliding table 43 to translate up and down along the dovetail guide rail 42, for example, the axial adjustment indexing disc 44 drives the screw nut to drive the sliding table 43 to translate up and down, so that the height can be adjusted in a balanced manner.
The transmission measuring device 5 comprises an angle encoder 51, a reversing air shaft 52 and a torque sensor 53, wherein the planetary gearbox 46, the angle encoder 51, the reversing air shaft 52, the torque sensor 53 and the air passage branching joint 21 are sequentially connected through a coupling 54 from top to bottom. The angle encoder 51 can measure the angle of the output shaft of the driving motor 45, the torque sensor 53 can measure the torque of the output shaft of the driving motor 45, and the controller can evaluate the stability of the driving motor 45 according to the measured values of the angle encoder 51 and the torque sensor 53, for example, the controller collects the angle measured by the angle encoder 51 and the torque information measured by the torque sensor 53, and calculates the rotating speed instruction in real time through a servo closed-loop control algorithm, so that the driving motor 45 realizes the stable rotation of the flexible load 2, and it should be noted that the torque sensor 53 of the present embodiment is preferably a hollow torque sensor.
In addition, the reversing air shaft 52 is used for realizing stable air supply in the moving state of the rotating shaft, specifically, the drying air source comprises a high-pressure air pump and a dryer, air output by the high-pressure air pump is input into the reversing air shaft 52 through the dryer, passes through the coupling 54, the torque sensor 53 and the air path flow dividing joint 21, and is finally input into the air floating cushion 6 to provide buoyancy, so that the air conveying pipeline can follow up, and the influence of the air conveying pipeline on the elastic deformation of the flexible load 2 is reduced.
The workflow of the implementation system of the embodiment is as follows: the dry air source supplies air to the air flotation cushion 6 to enable the flexible load 2 to float, the controller sends an experiment system operation instruction, the driving motor 45 rotates according to an instruction mode, the controller collects angle information measured by the angle encoder 51 and moment information measured by the torque sensor 53, a servo closed-loop control algorithm in the controller is introduced, a rotating speed instruction is resolved in real time, and the driving motor 45 realizes stable rotation of the flexible load 2. The dynamic characteristics of the flexible load 2 can be adjusted according to experimental requirements, and the transmission performance of the planetary reduction gearbox 46 can also be adjusted. The stability of the driving control can be evaluated through the measured values of the angle encoder 51 and the torque sensor 53, and the deformation of the flexible load can be dynamically measured by combining elastic deformation detection equipment, so that the driving performance evaluation sufficiency is improved.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (5)
1. An experimental system for stable drive control of small flexible loads, comprising: the device comprises an air floating platform, a flexible load, a portal frame, a driving device, a transmission measuring device, a drying air source and a controller;
the portal frame is arranged above the air floating platform;
the flexible load is arranged on the air floating platform through an air floating cushion;
the driving device is arranged on the portal frame, the driving device is connected with the transmission measuring device and the flexible load in series through a coupling, and the driving device controls the flexible load to rotate circumferentially and translate up and down;
the driving device comprises a supporting structure, a dovetail guide rail, a sliding table, an axial adjusting index plate, a driving motor and a planetary gearbox;
the supporting structure is fixedly arranged on the portal frame;
the dovetail rail is mounted on the support structure;
the driving motor is connected with the planetary reduction gearbox in series and then fixed on the sliding table;
the axial adjusting indexing disc drives the sliding table to move up and down along the dovetail guide rail;
the transmission measuring device is used for carrying out angle measurement and moment measurement on an output shaft of the driving device so as to control the axial deviation of the driving device;
the dry air source is led from the transmission measuring device through a pipeline to provide buoyancy for the air floating cushion;
the controller provides control, state management, data acquisition and processing of the driving device and establishment and downloading of different control models.
2. The bench-top drive controlled experimental system as claimed in claim 1, wherein said flexible load comprises: the gas circuit reposition of redundant personnel connect and with the different spring plate of polylith length that gas circuit reposition of redundant personnel connects, the tip of spring plate is equipped with the weight device, the below of weight device is equipped with the air supporting pad.
3. The experimental system for small flexible load stabilizing drive control as claimed in claim 1, wherein said transmission measuring device comprises an angle encoder, a reversing air shaft and a torque sensor;
the planetary gearbox, the angle encoder, the reversing air shaft, the torque sensor and the air path shunt joint are sequentially connected through the coupling from top to bottom.
4. The experimental system for small flexible load stabilization driving control as recited in claim 3, wherein the dry gas source comprises a high-pressure gas pump and a dryer, and gas output by the high-pressure gas pump is input into the reversing gas shaft through the dryer and enters the air-bearing cushion through the torque sensor and the air-path flow-dividing joint.
5. The experimental system for small flexible load stabilizing drive control as claimed in claim 3, wherein said torque sensor is a hollow torque sensor.
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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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| 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 CN109406183A (en) | 2019-03-01 |
| CN109406183B true CN109406183B (en) | 2020-06-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| US8352494B1 (en) * | 2009-12-07 | 2013-01-08 | Google Inc. | Distributed image search |
| CN104573325B (en) * | 2014-12-15 | 2017-05-10 | 南京航空航天大学 | Flexible structure shape wireless active control method and device |
| CN106855466B (en) * | 2015-12-08 | 2019-08-23 | 上海宇航系统工程研究所 | A kind of big flexible load simulator of single-degree-of-freedom |
| CN106856384B (en) * | 2015-12-08 | 2019-08-23 | 上海宇航系统工程研究所 | Big flexible load servo-control system test and evaluation device |
| CN106066244B (en) * | 2016-08-04 | 2019-02-19 | 程伟 | A kind of large inertia torsional flexibility load simulating device |
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