CN109542067A - Multivariable structural test real-time control system and method based on shared drive - Google Patents
Multivariable structural test real-time control system and method based on shared drive Download PDFInfo
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- CN109542067A CN109542067A CN201811475766.XA CN201811475766A CN109542067A CN 109542067 A CN109542067 A CN 109542067A CN 201811475766 A CN201811475766 A CN 201811475766A CN 109542067 A CN109542067 A CN 109542067A
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Abstract
The present invention relates to multivariable structural test real-time controls, for the barrier for breaking data exchange between each equipment, it realizes to the comprehensive of test process, finely, the control of multivariable, the present invention, multivariable structural test real-time control system based on shared drive, by shared drive network, the equipment for participating in multivariable structural test, real-time computer, part of data acquisition is constituted, wherein: shared drive network, one piece of shared drive is installed respectively in each equipment for participating in multivariable structural test, there is each shared drive a data write-in to read interface with data, the data of first piece of shared drive read interface and connect with the data of second piece of shared drive write-in interface, the data of second piece of shared drive read interface and connect with the data of third block shared drive write-in interface, remaining and so on, the reading of last block shared drive Outgoing interface is connect with the write-in interface of first piece of shared drive.Present invention is mainly applied to multivariable structural test occasions.
Description
Technical field
The present invention relates to the multivariable structural test real-time control methods based on shared drive, belong to engineering test method neck
Domain.
Background technique
It in traditional test, is independent from each other between each equipment, data can only be according to its internal set rule
It is acquired, calculates, exports, synchronizing for equipment is not only made to be affected；Moreover, in acquisition equipment except control system
Data are difficult timely to imported into control equipment during the test, this also results in control equipment not to be available these data,
To also can not just introduce the influence of the variable in control, controller can only be controlled according to mode given before test
System causes to be contemplated that the quantity of variable is extremely limited in control algolithm, be unfavorable for the test pair by multifactor impact
As being simulated, being restored.Various testing equipments are integrated into a big control network to need a kind of method, if
Mutual calling that data between standby can be convenient, modification, break the barrier of data exchange between each equipment, realization is to test
Comprehensive, fine, multivariable the control of process.
Summary of the invention
In order to overcome the deficiencies of the prior art, the present invention is directed to propose the new solution based on shared drive, breaks each
The barrier of data exchange between equipment realizes comprehensive, fine, multivariable the control to test process.For this purpose, the present invention uses
Technical solution be the multivariable structural test real-time control system based on shared drive, by shared drive network, participate in it is changeable
Equipment, real-time computer, the part of data acquisition for measuring structural test are constituted, in which:
Shared drive network installs one piece of shared drive in each equipment for participating in multivariable structural test, each respectively
All there is shared drive a data write-in to read interface with data, and the data of first piece of shared drive read interface and second piece
The data write-in interface connection of shared drive, the data of second piece of shared drive read the data of interface and third block shared drive
Interface connection is written, the write-in of remaining and so on, the reading interface and first piece of shared drive of last block shared drive connects
Mouth connection；
Part of data acquisition is made of sensor and data collecting instrument, and the effect of sensor will need to measure physical quantity
Variation is converted to electric signal or voltage signal, and data collecting instrument then acquires the signal of sensor and the work according to sensor
Electric signal or voltage signal are converted to the variation of corresponding physical quantity by principle, and transfer data to real-time computer；
Real-time computer controls the implementation operation for each equipment for participating in multivariable structural test, creation as master controller
With the internal storage access address in the input signal of every equipment of distribution and the shared drive network of output data, by shared
Memory network collects data, carries out aggregation process to the data received.
The equipment for participating in multivariable structural test includes actuator, actuator controller and sensor, during the experiment
Actuator applies displacement or power to test specimen；Actuator controller is responsible for sending instruction to actuator and summarizing actuator uploading
The data that sensor is passed back.
Create and distribute the internal storage access in the input signal of every equipment and the shared drive network of output data
Address is specifically to create " address 1 " and be assigned as the control instruction address of equipment 1, " address 2 " being assigned as equipment 1
Sensor feedback signal address, remaining and so on, data to open up the channel of each data, while involved in testing with
The channel established corresponds.
Multivariable structural test real-time control method based on shared drive, it is right using aforementioned implementation control system realization
Constitutive relation is clear in structure, the known part of reaction rule is used as numerical value minor structure, and will wherein strong nonlinearity, material property
Dependent on loading speed, the part accurately solved is difficult to as physics minor structure, under the action of external drive, passes through numerical value
Structure Calculation obtains the displacement of numerical value Yu physics minor structure intersection, passes through shared drive network, control using real-time computer
The displacement is applied to physics minor structure, then the physics minor structure that force snesor is measured by the equipment for participating in multivariable structural test
Force feedback by bring back to numerical value minor structure carry out next step calculating, with this constantly recycle, until external drive terminates.
Specifically:
(1) S-type force sensor is added to be arranged between damper and fixing end to measure the counter-force of damper, it is real
Data involved in testing are as follows: numerical value and the displacement of physics minor structure interface, counter-force, that is, S type sensor amount of physics minor structure
The actual displacement of measured data, physics minor structure is the measurement number that the equipment for participating in multivariable structural test carries displacement sensor
According to wherein damper is physics minor structure；
(2) firstly, numerical value and physics minor structure interface are displaced, refer to as the displacement for being applied to physics minor structure
It enables, and " address 1 " in shared drive network is appointed as the access address of its signal transmission passage；Secondly, to the equipment
Actual displacement is acquired, and " address 2 " is appointed as the access address of its signal transmission passage；Finally, " address 3 " is specified
How numerical value minor structure is counted after having specified data channel for the access address of S-type force sensor signal transmission passage
Calculation, the time lag compensation algorithm compensated to the time lag of the equipment used, data processing are written as Simulink model, so
After be loaded into real-time computer and execute, as the master controller of entire test process, and the numerical value that will be calculated
Write-in " address 1 " is set as with the displacement of physics minor structure interface；
(3) after master controller is provided with, by the data of " address 1 " as execution part in actuator controller
Displacement commands, and " address 2 " is written into the actual displacement data that actuator carries displacement sensor acquisition by being arranged；In data
It is set as in Acquisition Instrument by the transformed rear write-in " address 3 " of the signal of collected S-type force sensor；
(4) after being provided with, data flow is as follows in whole experiment process: being existed by real-time computer logarithm sub-structure model
It is calculated in Simulink, show that the equipment should be applied to the displacement commands of physics minor structure, it, will after time lag compensation
Its shared drive " address 1 " that real-time computer is written, the controller of the equipment is from " address 1 " of the shared drive of itself
Instruction is read, the equipment is then controlled and is moved, the displacement sensor of the equipment then acquires the actual displacement of actuator
Signal is entered into " address 2 " so that the time lag compensation algorithm in Simulink is read out carry out time lag compensation to it, and S
The counter-force for the damper that type force sensor measuring obtains then passes through shared drive in write-in Acquisition Instrument after data collecting instrument acquisition
" address 3 " in Simulink numerical value minor structure extract carry out next step calculating；
(5) so far, the frame of real-time substructure testing, which has been built, finishes, and numerical value minor structure is calculated by Simulink
Shared drive is written after time lag compensation to the displacement for needing to be applied to physics minor structure, the controller of the equipment is out of share
Middle calling displacement commands are deposited, damper is applied forces to according to instruction by equipment, acquire actual displacement, the damper of actuator
Counter-force, be written into shared drive equally so that numerical value minor structure carries out the integral calculation of next time step, be also achieved that three
The collaborative work and data interaction of kind distinct device.
The features of the present invention and beneficial effect are:
1, each equipment for participating in test is integrated under a big control network, make each equipment can cooperate with work
Make and achieve the purpose that the synchronized Coordinative Control.
2, it by the Data Integration of equipment each in test acquisition to together, and can be called at any time by other equipment.
3, it is contemplated that more test influence factor, more really to natural environment locating for subjects, stress
State is simulated, is controlled.
Detailed description of the invention:
Fig. 1 constructs shared drive network schematic diagram.
Structure selected by Fig. 2 real-time substructure testing.
Fig. 3 real-time substructure testing flow diagram.
Fig. 4 real-time substructure testing equipment framework explanatory diagram.
The real-time minor structure field test equipment connection schematic diagram of Fig. 5.
Fig. 6 real-time substructure testing shared drive network and data exchange schematic diagram.
Specific embodiment
In civil engineering test when carrying out the test of labyrinth, generally requires plurality of devices while being tested,
To simulate influence of a variety of different external conditions to structure, but many external condition is interactional, such as structure
The Critical Bending Moment of column and the axial pressure that column is currently subject to are closely related, MR damper generate damping force not only with lotus
The frequency of load is related to amplitude, and influence of the input current to its damping force is also to play a decisive role.But it is different equipment again
Respectively there is mutually independent controller, the controller of an equipment can not control equipment all in entire test,
Such as loading equipemtn is just unable to control the curent change of MR damper.Also, synchronous fortune is often required between each equipment
Row carrys out the true state of model configuration, and mutually indepedent, data interaction the limitation of controller has also resulted in it between equipment
Synchronous difficulty is kept, such as actuator and shake table are exactly to be controlled respectively by two controllers, to by the two equipment collaboration
Get up to be tested just more difficult.Finally, many control methods are all the certain state variables for needing current control object
It can be only achieved the Optimal Control to control object, and working as on loading equipemtn does not have the sensor of the variable, or since other add
The additional member for carrying equipment leads to the measurement inaccuracy of sensor, that will necessarily make control effect have a greatly reduced quality.As a result,
" core " of a test is required to be integrated in real time to the data during entire test, and to each equipment
Carry out the control of the coordinating and unifying.
Shared drive network is to be placed in shared drive board in the computer that every participates in test first, and pass through
It is connected into the closed network of a data exchange by optical fiber according to certain topological relation.In shared drive network, data
It is conveyed rapidly and directly, data are written to certain address of its shared drive board in network a computer, as to
Numerical value 1 is written in location A, and several delicate interior, the numerical value of address A can all be changed on the shared drive board of other computers on network
It is written as 1, avoids the needs of big to bulky in messaging network, time overhead and non-deterministic network protocol.It is shared
This characteristic of memory network is just catering to the demand of multivariable real-time control, and the data write-in collected of an equipment is shared interior
An equipment can be enabled to read after depositing at once, utilization, calculating, the instruction being calculated after shared drive is written also at once
Control equipment is read by the controller of corresponding equipment to be operated.Also, the testing equipment of current mainstream is provided with shared
The hardware interface of memory board is also that the realization of this method provides the foundation.
To achieve the goals above, this invention takes the experimental control methods of the multivariable based on shared drive, including
Following steps:
Step 1: building shared drive network.One piece of shared drive is installed respectively in each equipment for participating in experiment, each
All there is shared drive a data write-in to read interface with data.Illustrate taking for shared-memory net network by taking four equipment as an example
Build (such as Fig. 1, following steps are illustrated according to Fig. 1).The data of first piece of shared drive (can be arbitrarily designated sequence) are read
Outgoing interface is connect with the data of second piece of shared drive write-in interface, and the data of second piece of shared drive read interface and third block
The data write-in interface connection of shared drive, the data of third block shared drive read the data of interface and the 4th piece of shared drive
Interface connection is written, finally, the reading interface of the 4th piece of shared drive is connect (more with the write-in interface of first piece of shared drive
More equipment is connected by same connection type).Four equipment are connected as to the shared-memory net of a data exchange in this way
Network.
Step 2: in real-time controlling test, a real-time computer is needed, and using real-time computer as master control
Device guarantees number with this for creating and distribute the input signal of every equipment and the shared drive access address of output data
According to order transfer.Real-time computer is essentially a high performance real-time device, and so-called i.e. it is stringent in real time
It is run according to the true time.Common computer, may in the structure of the input earthquake of a 60s when being simulated
Several seconds with regard to calculate finish to have obtained as a result, in the absence of between concept, and real-time computer be when being simulated with when
Between concept, what the earthquake motion of 60s can be stringent go to run according to its true time, and this feature of real-time computer is also just
Real-time structural test provides the foundation.
Step 3: optical fiber will be only the structure for completing the shared drive network of physical layer after the connection of each shared drive
It builds, it is also necessary to carry out the setting of software view.By taking Fig. 1 as an example, it is assumed that equipment 1,2,3 is required to instruction to control its operating, and
And has included sensing equipment.In master controller, creates " address 1 " and be assigned as the control instruction address of equipment 1, it will
" address 2 " is assigned as the sensor feedback signal address of equipment 1；Similarly to the control instruction and sensor of equipment 2 and equipment 3
It is specified feedback signal address.The essence of creation and distribution shared drive address is the channel different for different signal creations
With storage location, the orderly processing of Lai Shixian data prevents data collision, and specific address distribution should be as the case may be
It is adjusted.It is equivalent to open individually to the data for participating in experiment in experiment after the address of master controller creation and distribution
Channel, all data are summarized among controller all along respective channel, and all instructions are all from master controller
It issues and along corresponding channel reaches corresponding equipment, operating of equipment is controlled with this.
Step 4: it after the channel that master controller opens up each data, needs to make data and master control involved in experiment
The channel that device processed is established corresponds.The instruction for each equipment being calculated according to control algolithm is write respectively in master controller
Enter corresponding control instruction address, believes in the control software of each equipment using the address of its corresponding control instruction as its control
Number source, by collected data-signal be written to master controller for its distribution (set-up mode is answered for sensor feedback address
It is configured according to specific equipment, equipment specification is described).So that each equipment is achieved that and master controller
Data interaction makes equipment become a node of entire data closed loop.The control of each equipment, feedback are unified in master controller,
Also it is achieved that the coordination operation of distinct device and provides the foundation for the control method of multivariable.
By taking the real-time substructure testing for the single-degree-of-freedom girder system that damper is housed shown in Fig. 2 as an example, in conjunction with related attached
Figure, is described in detail below implementation steps of the invention.
Firstly, real-time substructure testing is that the structure for being not suitable for carrying out the large size of prototype test or complexity is split into number
The high-performance experimental technique that value minor structure and physics minor structure are tested, by constitutive relation in structure, clear, reaction rule has been
The part known as numerical value minor structure, and by wherein strong nonlinearity, material property dependent on loading speed, be difficult to accurately to solve
Part is used as physics minor structure, is a kind of at low cost, high-efficient test method.Its basic procedure is: in the work of external drive
Under, the displacement of numerical value Yu physics minor structure intersection is calculated by numerical value minor structure, control actuator applies the displacement
Physics minor structure is added to, then the force feedback for the physics minor structure that force snesor measures is brought back into numerical value minor structure and is carried out in next step
Calculating, with this constantly recycle, until external drive terminates (such as Fig. 3).
For the dynamic respond of control structure, damper or support are usually configured in the structure.For simplicity, this examination
It tests and has chosen the single-degree-of-freedom girder system of simple installation damper and carry out controlling test to the multivariable based on shared drive
Method is illustrated, and wherein truss solves its response with Simulink as numerical value minor structure, and damper is as physics knot
Structure (such as Fig. 2).
Understand to be more convenient for, the framework of this experiment is introduced (such as Fig. 4) first, and equipment used in this experiment can be drawn
It is divided into three parts: execution part, real-time calculating section, part of data acquisition.Wherein execution part includes actuator, actuator control
Device processed, actuator oil sources, separator, accumulator, also include a part of sensor, but negligible amounts.Actuation during the experiment
Device applies displacement or power to test specimen；Controller is responsible for sending instruction to actuator and summarizes what sensor in actuator was passed back
Data；Oil sources provides power for actuator；The hydraulic oil that oil sources conveys shunt by separator is conveyed to actuator, by actuation
The oil return of device is transmitted back to oil sources；Accumulator plays the role of stable oil pressure；The included sensor of actuator important is displacement and
Force snesor, the data of measurement displacement and power are sent to controller during the experiment.Popular says, the effect of execution part is just
It is to move actuator according to the displacement commands of its controller, and send control for the current status information capture of actuator
Device processed.
Real-time calculating section includes real-time machine and host computer, and host computer is only to compile test process before on-test
It is written as that the program of real-time machine can be loaded into, its effect is only to play the role of monitoring, and machine is then real in real time after on-test
When sub-structural test during real master controller, the calculating of whole experiment process, what real-time machine write according to host computer
Experimentation controls each section, carries out aggregation process to various data.
Finally, part of data acquisition, is mainly made of sensor and data collecting instrument, the effect of sensor is will to need
The variation of measurement physical quantity is converted to electric signal or voltage signal, and data collecting instrument then acquire sensor signal and according to
Electric signal or voltage signal are converted to the variation of corresponding physical quantity by the working principle of sensor, and part of data acquisition is independent
In the acquisition system of execution part sensor, it is mainly used for making up that execution part number of probes is insufficient, the type limitation such as not enough
Property.
In experiment, real-time machine is carried out by reading the data that the sensor measurement of execution part and part of data acquisition obtains
The calculating of numerical value minor structure obtains actuator instruction, is sent to the controller of actuator, and the controller of actuator controls actuator
It is moved, and sensor then continues to measure, more new data is for the calculating for taking progress next step machine-readable in real time, until test knot
Beam.
Realize that the specific implementation step of the test is as follows using the present invention:
(1) using optical fiber by actuator controller, real-time machine, data collecting instrument shared drive board be linked to be one it is shared
Memory network.Wherein for real-time machine as master controller, signal involved in this experiment is the numerical value that numerical value minor structure is calculated
The actual displacement of counter-force (counter-force of damper), physics minor structure of displacement, physics minor structure with physics minor structure interface.
In this experiment, to prevent the loading end of actuator from rotating during the experiment, sliding rail is provided in loading end to constrain it
It can only be moved along load bar axis direction, this frictional force for also resulting in sliding rail generates the force snesor that actuator carries
Interference, the counter-force for causing it to measure are not the counter-force of damper merely, and due to the strong nonlinearity of frictional force, can not be by its shadow
Sound is removed, therefore additionally be joined S-type force sensor setting in this experiment and come between damper and fixing end to damping
The counter-force of device measures (such as Fig. 5).Therefore, data involved in this experiment are as follows: the position of numerical value and physics minor structure interface
Shifting, the actual displacement of the counter-force (metric data of S type sensor) of physics minor structure, physics minor structure (the included displacement of actuator
The metric data of sensor).
(2) firstly, numerical value and physics minor structure interface are displaced, refer to as the displacement for being applied to physics minor structure
It enables, and " address 1 " is appointed as the access address of its signal transmission passage；Secondly as real-time substructure testing is related to time lag
The problem of compensation, needs to obtain in time lag compensation the actual displacement of actuator in real time, by actual displacement and displacement commands into
Row comparison, could compensate the time lag of actuator, it is therefore desirable to the actual displacement to actuator is acquired, and by "
Location 2 " is appointed as the access address of its signal transmission passage；Finally, the counter-force by physics minor structure is needed to take back numerical value minor structure
The calculating of next step is carried out, therefore " address 3 " is appointed as the access address of S-type force sensor signal transmission passage.Specified
The time lag compensation algorithm that after complete data channel, how numerical value minor structure is calculated, uses, data processing etc. are written as
Then Simulink model is loaded into real-time machine and executes, as the master controller of entire test process, and will calculate
Obtained numerical value and physics minor structure interface displacement is set as write-in " address 1 ".
(3) after master controller is provided with, by the data of " address 1 " as execution part in actuator controller
Displacement commands, and " address 2 " is written into the actual displacement data that actuator carries displacement sensor acquisition by being arranged；In data
It is set as in Acquisition Instrument by the transformed rear write-in " address 3 " of the signal of collected S-type force sensor.Specific set-up mode is respectively set
Standby specification is discussed in detail.
(4) after being provided with, data flow is as follows in whole experiment process: numerical value sub-structure model carries out in Simulink
It calculates, show that actuator should be applied to the displacement commands of physics minor structure, after time lag compensation, be written into being total to for real-time machine
Enjoy memory " address 1 ".Actuator controller reads instruction from " address 1 " of the shared drive of itself, then controls actuator
It is moved.The actual displacement signal that the displacement sensor of actuator then acquires actuator be entered into " address 2 " for
Time lag compensation algorithm in Simulink is read out carry out time lag compensation to it.And the damping that S-type force sensor measurement obtains
The counter-force of device is then by " address 3 " of shared drive in write-in Acquisition Instrument after data collecting instrument acquisition in Simulink
Numerical value minor structure extracts the calculating for carrying out next step.
(5) so far, the frame of real-time substructure testing, which has been built, finishes, and numerical value minor structure is calculated by Simulink
Shared drive is written after time lag compensation to the displacement for needing to be applied to physics minor structure, actuator controller is from shared drive
Displacement commands are called to be applied to damper, and data acquisition equipment acquires the counter-force of the actual displacement of actuator, damper, equally
Shared drive is written into so that numerical value minor structure carries out the integral calculation of next time step, is also achieved that three kinds of distinct devices
Collaborative work and data interaction.
Only relate only to a kind of actuation equipment in this example, a kind of data acquisition, then it is other by being added in pilot system
Actuation equipment, number adopts equipment and can also be realized by same mode.Such as in addition to actuator, shake table system can also be added
System, can not only meet the boundary condition of structural base, but also can meet the boundary condition on top by actuator in this way,
Or effect of the other structures to subjects；It, can also be by displacement, speed, acceleration, temperature in addition to the acquisition equipment of power
Among the closed loop of the various signal access data exchanges of degree, humidity etc., to meet different test demands；And in addition to calculating actuation
Except the control signal of device, the electric current of MR damper can also be controlled according to the response of structure, to realize half
The purpose of active control.
Claims (5)
1. a kind of multivariable structural test real-time control system based on shared drive, characterized in that by shared drive network, ginseng
It is constituted with equipment, real-time computer, the part of data acquisition of multivariable structural test, in which:
Shared drive network installs one piece of shared drive in each equipment for participating in multivariable structural test respectively, each shared
All there is memory a data write-in to read interface with data, and the data of first piece of shared drive read interface and second piece shared
The data write-in interface connection of memory, the data of second piece of shared drive read interface and the data of third block shared drive are written
Interface connection, remaining and so on, the write-in interface company for reading interface and first piece of shared drive of last block shared drive
It connects；
Part of data acquisition is made of sensor and data collecting instrument, and the effect of sensor is will to need to measure the variation of physical quantity
Electric signal or voltage signal are converted to, and data collecting instrument then acquires the signal of sensor and the working principle according to sensor
Electric signal or voltage signal are converted to the variation of corresponding physical quantity, and transfer data to real-time computer；
Real-time computer controls the implementation operation for each equipment for participating in multivariable structural test as master controller, creates and divide
Internal storage access address in the shared drive network of input signal and output data with equipment described in every, passes through shared drive
Network collects data, carries out aggregation process to the data received.
2. the multivariable structural test real-time control system based on shared drive as described in claim 1, characterized in that participate in
The equipment of multivariable structural test includes actuator, actuator controller and sensor, and actuator is to test specimen during the experiment
Apply displacement or power；Actuator controller is responsible for sending instruction to actuator and summarizes the number that sensor in actuator is passed back
According to.
3. the multivariable structural test real-time control system based on shared drive as described in claim 1, characterized in that creation
It is specifically to create with the internal storage access address in the input signal of every equipment of distribution and the shared drive network of output data
It builds " address 1 " and is assigned as the control instruction address of equipment 1, " address 2 " being assigned as the sensor feedback signal of equipment 1
Address, remaining and so on, to open up the channel of each data, while data involved in experiment and the channel one established
One is corresponding.
4. a kind of multivariable structural test real-time control method based on shared drive, characterized in that controlled using aforementioned implementation
System is realized, is partially used as numerical value minor structure known to clear, reaction rule to constitutive relation in structure, and will be wherein strong non-thread
Property, material property dependent on loading speed, be difficult to the part accurately solved as physics minor structure, in the effect of external drive
Under, the displacement of numerical value Yu physics minor structure intersection is calculated by numerical value minor structure, is passed through using real-time computer shared
The displacement is applied to physics minor structure by the equipment that memory network, control participate in multivariable structural test, then force snesor is surveyed
The force feedback of the physics minor structure obtained carries out the calculating of next step by bringing back to numerical value minor structure, is constantly recycled with this, until
External drive terminates.
5. the multivariable structural test real-time control method based on shared drive as claimed in claim 4, characterized in that specific
Ground:
(1) S-type force sensor is added to be arranged between damper and fixing end to measure the counter-force of damper, in experiment
The data being related to are as follows: numerical value and the displacement of physics minor structure interface, counter-force, that is, S type sensor measurement number of physics minor structure
Actual displacement according to, physics minor structure is the metric data that the equipment for participating in multivariable structural test carries displacement sensor,
Middle damper is physics minor structure；
(2) firstly, numerical value and physics minor structure interface are displaced, as the displacement commands for being applied to physics minor structure, and
" address 1 " in shared drive network is appointed as the access address of its signal transmission passage；Secondly, to the actual bit of the equipment
Shifting is acquired, and " address 2 " is appointed as the access address of its signal transmission passage；Finally, " address 3 " is appointed as S type
How numerical value minor structure is calculated, is used after having specified data channel by the access address of force sensor signals transmission channel
The time lag compensation algorithm that the time lag of the equipment is compensated, data processing be written as Simulink model, then by it
It is loaded into real-time computer and executes, as the master controller of entire test process, and by the numerical value being calculated and physics
The displacement of minor structure interface is set as write-in " address 1 "；
(3) displacement after master controller is provided with, in actuator controller by the data of " address 1 " as execution part
Instruction, and " address 2 " is written into the actual displacement data that actuator carries displacement sensor acquisition by being arranged；It is acquired in data
It is set as in instrument by the transformed rear write-in " address 3 " of the signal of collected S-type force sensor；
(4) after being provided with, data flow is as follows in whole experiment process: being existed by real-time computer logarithm sub-structure model
It is calculated in Simulink, show that the equipment should be applied to the displacement commands of physics minor structure, it, will after time lag compensation
Its shared drive " address 1 " that real-time computer is written, the controller of the equipment is from " address 1 " of the shared drive of itself
Instruction is read, the equipment is then controlled and is moved, the displacement sensor of the equipment then acquires the actual displacement of actuator
Signal is entered into " address 2 " so that the time lag compensation algorithm in Simulink is read out carry out time lag compensation to it, and S
The counter-force for the damper that type force sensor measuring obtains then passes through shared drive in write-in Acquisition Instrument after data collecting instrument acquisition
" address 3 " in Simulink numerical value minor structure extract carry out next step calculating；
(5) so far, the frame of real-time substructure testing, which has been built, finishes, and numerical value minor structure is calculated by Simulink and is needed
Shared drive is written in the displacement for being applied to physics minor structure after time lag compensation, and the controller of the equipment is from shared drive
Call displacement commands, damper applied forces to according to instruction by equipment, acquire the actual displacement of actuator, damper it is anti-
Power is written into shared drive equally so that numerical value minor structure carries out the integral calculation of next time step, be also achieved that three kinds not
With the collaborative work and data interaction of equipment.
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