CN109765020A - Loading system and its loading control method - Google Patents
Loading system and its loading control method Download PDFInfo
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- CN109765020A CN109765020A CN201910218815.XA CN201910218815A CN109765020A CN 109765020 A CN109765020 A CN 109765020A CN 201910218815 A CN201910218815 A CN 201910218815A CN 109765020 A CN109765020 A CN 109765020A
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Abstract
The disclosure provides a kind of loading system and its loading control method.Loading system includes: vertical counterforce device, for providing reaction force for vertical actuator；Lateral counterforce device, for providing reaction force for horizontal actuator；Vertical actuator, for providing axle power to test specimen；Horizontal actuator, for providing cross force to test specimen；L-type loading beam, for carrying out horizontal displacement, vertical displacement and rotation under the Collaborative Control of vertical actuator and horizontal actuator.According to the loading system of the application and loading control method, it can be achieved that coupon level displacement, the accurate control of axle power and corner.
Description
Technical field
This application involves one kind such as in the novel load of building field, field of traffic, bridge field and machinery field etc.
System and its control method can be applied to static(al), Quintic system and pseudo that high-precision tests loading section.
Background technique
In recent years, with the enlargement of engineering structure and complication and damper, shock isolating pedestal, anti-buckling support etc.
The engineer application of passive energy dissipation and isolation structure component, demand of the seismic resistance field to large scale test even full scale test are got over
Come stronger.In order to obtain accurate as far as possible, true test result, to everyway, more stringent requirements are proposed, such as:
Control to sample dimensions and load time likelihood ratio effect；The application of new test method in test；Test loading equipemtn
Ability and control performance；Test is docked with related software, the interface of pilot system is integrated；To test boundary
The order of accuarcy etc. of condition simulation.
Since earthquake is multiaxis to the effect of structure and continually changing, and with the enlargement of engineering structure, complexity
Change and the complication of boundary condition imitation, for the earthquake response in the various situations of more preferable simulation, pilot system is also gradually
Develop to complicating, refining.
Traditional loading system is made of counter force wall 102, electro-hydraulic servo actuator A ', displacement meter and hydraulic jack B ',
As shown in Figure 1.The displacement of coupon level direction is controlled by electro-hydraulic servo actuator A ', and vertical force suffered by test specimen is by hydraulic jack
B ' load.There are the following problems for traditional loading method: cannot achieve the accurate control to corner；Axle power load by adjusting manually
It saves jack to realize, error is very big.
As the demand to large scale even full scale test is more more and more intense, the raising of structural test technical level, with
And the fast development of Hydrauservo System, complexity and boundary condition to the collaborative work of actuator are accurately realized
Complexity made higher requirement.Traditional loading method does not have been carried out increasingly accurate loading condition.
In order to solve problem above, achieve the purpose that high-precision loads, the application propose a kind of novel loading system and
Loading control method.
According to the scheme of the application, the accurate control to corner can be realized, and can accurately control axle power load.
In addition, the application also can solve: in traditional loading method, horizontal direction load is by manually controlling realization, as a result
The problem of precision and low efficiency.
Summary of the invention
According to an aspect of the present invention, a kind of loading system is provided, comprising: vertical counterforce device, for being vertical actuator
Reaction force is provided；Lateral counterforce device, for providing reaction force for horizontal actuator；Vertical actuator is used for test specimen
205 provide axle power；Horizontal actuator, for providing cross force to test specimen 205；L-type loading beam, in vertical actuator and
Horizontal displacement, vertical displacement and rotation are carried out under the Collaborative Control of horizontal actuator.
According to a further aspect of the invention, a kind of loading control method is provided, comprising: issue displacement, axle power to loading system
With corner order, it is converted into vertical actuator and the respective displacement of targets of horizontal actuator, is acted on test specimen 205, made described
Test specimen 205 generates movement.
By the loading system and loading control method of the application, overcomes and manually adjust jack reality in the prior art
Existing axle power loads the defect for causing error very big, and can realize the accurate control to corner.
The loading system and loading control method of the application can also be achieved the control of the higher precision to horizontal direction load
System guarantees that load goes on smoothly and obtains exact test result.
Detailed description of the invention
From the explanation below with reference to attached drawing to illustrative embodiments, other features be will be apparent.
Fig. 1 (a) shows the appearance diagram of traditional loading system；
Fig. 1 (b) shows the schematic diagram of traditional loading system；
Fig. 2 (a) shows the appearance diagram of loading system according to the present invention；
Fig. 2 (b) shows the schematic diagram of loading system according to the present invention；
Fig. 3 shows the example flow diagram of loading control method according to the present invention；
Fig. 4 (a) shows loading system of the invention and is applied to scene scheme of installation for the moment；
Fig. 4 (b) shows loading system of the invention and is applied to scene erecting bed figure for the moment；
Fig. 5 (a) shows loading system of the invention and is applied to scene experimental rig schematic diagram for the moment；
Fig. 5 (b) shows the simplification geometric graph of Fig. 5 (a)；
Fig. 6 (a) shows the schematic diagram at 205 top of test specimen in the case where scene one；
Fig. 6 (b) shows the simplification geometric graph of Fig. 6 (a)；
Fig. 7 (a) shows the schematic diagram of 205 bottom of test specimen in the case where scene one；
Fig. 7 (b) shows the simplification geometric graph of Fig. 7 (a)；
Fig. 8 shows shear wall top displacement and angle relation in the case where application scenarios two；
Fig. 9 (a) shows shear wall loading device schematic diagram in the case where application scenarios two；
Fig. 9 (b) shows shear wall loading device scene photo in the case where application scenarios two.
Specific embodiment
According to an aspect of the present invention, a kind of loading system is provided, comprising: vertical counterforce device, for being vertical actuator
Reaction force is provided；Lateral counterforce device, for providing reaction force for horizontal actuator；Vertical actuator is used for test specimen
205 provide axle power；Horizontal actuator, for providing cross force to test specimen 205；L-type loading beam 203, in vertical actuator
It is horizontally and vertically displaced and is rotated under the synergistic effect of horizontal actuator.
Fig. 2 illustrates loading system according to an aspect of the present invention.
As shown in Fig. 2, the loading system includes lateral counterforce device 202, which is used for level
Actuator provides counter-force, can be counter force wall；Vertical counterforce device 201, for providing counter-force to vertical actuator, this is perpendicular
It can be vertical reaction frame to counterforce device 201；Horizontal actuator and vertical actuator are shown as 2 vertical actuator in figure
B, D and 1 horizontal actuator A, however embodiment is without being limited thereto；L-type loading beam 203, in vertical actuator B, D and
It is displaced, rotated under the synergistic effect of horizontal actuator A.
Double leval jib 204 is also shown in Fig. 2 (b), for constraining the rotation of L-type loading beam 203, however this embodiment party
Formula is without being limited thereto, for there is the test of rotation that can remove double leval jib 204.
Vertical actuator B, D and horizontal actuator A is preferably electro-hydraulic servo actuator, maximum output 200t, dominant bit
Moving is ± 250mm.Vertical reaction frame total height can be 9.5m.Counter force wall can high 5m, thick 3m.The system can be to up to 4m
The test specimens 205 such as wall, column carry out Quintic system or pseudo.It should be understood that numbers above is only for ease of description, be not used to
It limits the invention.
In the example of Fig. 2 (b), actuator A is horizontal actuator, and one end connects counter force wall, and the other end connects L-type
Loading beam 203；Actuator B, D is vertical actuator, and one end connects reaction beam, and the other end connects L-type loading beam 203.Test specimen
205 are mounted on 203 lower section of L-type loading beam, are fixedly connected with test specimen top beam with the lower edge of L-type loading beam 203 with screw rod, will
Test piece base is anchored on pedestal.
It should be understood that as long as horizontal, the vertical position of L-type loading beam 203 can be realized by the Collaborative Control of three actuator
It moves and rotates, to realize target level displacement, vertical axle power and the corner of test specimen 205, three actuator and L-type loading beam
203 connection relationship is not limited to above example.
L-type loading beam 203 plays the role of nonlinear transformation in the above loading system, for that will issue to loading system
Displacement and corner order be converted into the respective displacement of targets of actuator.The setting of L-type loading beam 203, which can be realized, to be tested
The nonlinear change of the displacement meter geometric position of test specimen 205, actuator A, actuator B and actuator D in journey.Nonlinear transformation
Process can be realized on hardware by digital signal processor (DSP) or ASIC circuit.
The loading system can also include outer ring proportional-plus-integral controller (proportional integral
Controller, abbreviation PI controller), to realize that the accurate load to test specimen 205 controls.The loading system can also wrap
Containing detector, for obtaining true horizon displacement, corner and the practical axle power of test specimen 205.
About the specific works of outer ring PI controller and detector, will be retouched in detail referring to following loading control method
It states.
According to a further aspect of the invention, a kind of loading control method is also provided, comprising: issue displacement, axis to loading system
Power and corner order are converted into vertical actuator and the respective displacement of targets of horizontal actuator, act on test specimen 205, make to try
Part 205 generates movement.
This method can further include: by nonlinear transformation, by the displacement issued to the loading system, axis
Power and corner order are converted into described vertical actuator B, D and the horizontal respective displacement of targets of actuator A；By detector, obtain
To true horizon displacement, corner and the practical axle power of test specimen 205；By outer ring PI controller to horizontal displacement and corner, reality
The error of axle power is constantly corrected until reaching precision prescribed, to realize the control to displacement and corner.
Wherein, being modified by error of the outer ring PI controller to axle power error and horizontal displacement and corner can be with
Include: to make axle power suffered by displacement, corner, the true horizon displacement of axle power order and test specimen 205, corner and reality poor, obtains
The control error of system, then be modified by outer ring PI controller, until the control error of system is narrowed down in acceptable model
In enclosing.
Fig. 3 shows the example flow diagram of the loading control method.In Fig. 3, dc、NcAnd θcRespectively indicate command bit
Shifting, axle power and corner；PI controller is outer ring PI controller；G1For will order displacement, axle power and corner be converted into actuator A,
B, the nonlinear transformation of the displacement of targets of D；G2To convert the non-thread of 205 actual axial force of test specimen for the power output of actuator A, B, D
Property transformation；G3(to be in this instance linear variable difference transformer (Linear Variable by outer displacement sensor
Differential Transformer, LVDT)) measured displacements are converted into the non-linear change of 205 actual displacement of test specimen, corner
It changes；d1c、d2cAnd d3cRespectively indicate the displacement of targets of actuator A, B and D； PI_d1、PI_d2And PI_d3Respectively indicate actuator
A, the inner ring PI controller of B and D；TA、TBAnd TCThe transmission function of actuator A, B and D are respectively indicated, is added to simulate actuator
It carries；d1' be displaced for 205 real standard of test specimen, N ' is the practical axle power of test specimen 205, and θ ' is 205 top actual rotational angle of test specimen.
With reference to the example of the loading control method of Fig. 3 description according to an aspect of the present invention.In this example, shown in Fig. 2
Loading system for, wherein there are two vertical actuator B, D and a horizontal actuator A.
This method comprises the following steps: firstly, displacement, axle power and corner order are issued to loading system, by non-linear
Convert G1, it is converted into the respective displacement of targets of actuator A, B and D；Then, the displacement of targets of actuator A, B, D are sent to machine
The load of tool test simulation (Mechanical Testing &System, abbreviation MTS) system Control experiment, notices that the step is not
It is required, it can also directly manipulate actuator and generate displacement of targets, so that test specimen 205 generates movement；Acquire actuator A, B and
The practical power output of D feeds back to system to acquire axle power suffered by 205 reality of test specimen to realize the control to axle power；Using outer
Displacement sensor measured displacements obtain the true horizon displacement of test specimen 205 and turning for 205 top of test specimen by nonlinear transformation
Angle feeds back to system to realize the control to displacement and corner；It is poor that command object and the response of test specimen 205 are made, and obtains system
Error is controlled, then is modified by the same PI controller, until the control error of system is narrowed down in tolerance interval
It is interior.
It should be understood that method flow shown in Fig. 3 merely to description is convenient and shows an example, is not used to limit
Scope of the present application processed.The mode for obtaining real displacement and corner from measured displacements is also not necessarily limited to nonlinear transformation, obtains test specimen
The mode of axle power suffered by 205 reality is also not necessarily limited to above description, and those skilled in the art can need to use according to the actual situation
Other means, as long as practical axle power, real displacement and the corner of test specimen 205 can be obtained.Those skilled in the art can also
To take the corner at 205 other positions of test specimen according to actual needs, and it is not limited to 205 top of test specimen.
Concrete application scene
Below by taking two concrete application scenes as an example, to describe loading system and loading control method of the invention in reality
Application in the test of border.Two application scenarios are respectively: the test of reinforced concrete frame column anti-seismic performance, armored concrete are cut
Power wall Experiment of Mechanical Behavior.It is described below and is merely for convenience of those skilled in the art and more understands the principle of the present invention, rather than
For limiting the present invention.
Application scenarios 1
Showing for loading system and loading control method is illustrated by taking the test of reinforced concrete frame column anti-seismic performance as an example below
Example application.Wherein, actuator and LVDT outer displacement sensor L1-L6Arrangement it is as shown in Figure 4.
The loading control method of the application is applied in the test of reinforced concrete frame column anti-seismic performance and implements process
It is as follows.
(1) displacement, axle power and corner order are issued to loading system, passes through nonlinear transformation G1, it is translated into actuation
The respective displacement of targets of device A, B and D, acts on test specimen 205.
If the axial rigidity of test specimen 205 is K (unit: kN/mm), then the target vertical displacement of test specimen 205 are as follows:
Then be connected with the structure coordinate of one end of each actuator is
X in formulaAi,s--- actuator is connected the abscissa of one end with structure under global coordinate system
YAi,s--- actuator is connected the ordinate of one end with structure under global coordinate system
Xc--- the abscissa (mm) of control point C under global coordinate system；
Yc--- the ordinate (mm) of control point C under global coordinate system；
TLG--- the transition matrix of local coordinate system to global coordinate system；
xAi--- actuator is connected abscissa of the one end under C point local coordinate system with structure；
yAi--- actuator is connected ordinate of the one end under C point local coordinate system with structure.
Wherein, transition matrix TLGExpression formula and C point target rotation angle θcRelated, it determines local coordinate system and entirety
Angle between coordinate system, transition matrix are
In 205 motion process of test specimen, the coordinate of C is related with its initial coordinate and displacement of targets
X in formulaco--- the initial abscissa (mm) of control point C under global coordinate system；
Yco--- the initial ordinate (mm) of control point C under global coordinate system；
dc--- the displacement of targets (mm) of test specimen 205 in the horizontal direction；
dvc--- the displacement of targets (mm) of test specimen 205 in the vertical direction
So, the target elongation length of actuator is
X in formulaAi,f--- the abscissa (mm) of actuator fixing end under global coordinate system；
YAi,f--- the ordinate (mm) of actuator fixing end under global coordinate system；
dic--- the displacement of targets (mm) of actuator；
dio--- the initial length (mm) of actuator.
(2) test specimen 205 generates movement, the practical power output of actuator A, B and D is acquired, to acquire the practical institute of test specimen 205
By axle power, the system of feeding back to is modified to axle power error by outer ring PI controller to realize the control to axle power.
It takes out actuator A, B, D and L-type loading beam 203 is analyzed, as shown in Fig. 5 (a), and be reduced to letter
Single geometric figure, as shown in Fig. 5 (b).In Fig. 5 (b), O3E3、A3B3、C3D3Actuator A, B, D are respectively represented, they initial
Length is respectively La0、Lb0、 Ld0, during the motion, length is respectively LA、LB、LD, O3、B3、C3For the fixing end of actuator,
E3、A3、D3For the hinge joint of actuator and L-type loading beam 203；B3C3Level, A3D3、 B3C3Length be L, B3With O3Level
Distance is S, vertical range H, A3E3Length is LAB； ∠E3A3D3It immobilizes, is θ3.Take O3Point is coordinate origin, is provided as moving
Device A, B, D and x3The angle of axis positive direction is respectively γ1、γ2、γ3。
According to known conditions, the coordinate of each point can be obtained, then corresponding vector is
Due to A3D3、A3E3Length is definite value, and angle is also definite value, then can list equation
Joint type (6), (7) and (9) can acquire angle γ1、γ2、γ3, so as to obtain axle power suffered by 205 reality of test specimen
N'=F1·sinγ1+F2·sinγ2+F3·sinγ3 (10)
Axle power (kN) suffered by 205 reality of N ' in formula --- test specimen；
F1--- the practical power output (kN) of actuator A；
F2--- the practical power output (kN) of actuator B；
F3--- the practical power output (kN) of actuator D.
At the same time, 205 real standard power of test specimen can be acquired
F=F1·cosγ1+F2·cosγ2+F3·cosγ3 (11)
Horizontal force (kN) suffered by 205 reality of F in formula --- test specimen.
(3) by outer displacement sensor measured displacements, by nonlinear transformation, obtain test specimen 205 true horizon displacement and
The corner at 205 top of test specimen, constantly corrects error by the PI controller of system until reaching precision prescribed, to realize
The feedback control of displacement of targets and corner.
In this scenario, in some cases, pedestal has a small amount of horizontal sliding and vertical compression, at this point for examination
The real displacement of part 205 should deduct the change in displacement of base position, therefore should seek the resultant displacement of top C point and bottom O point.
(a) at the C of control point
It takes out LVDT outer displacement sensor L1, L2, L3 and 205 top beam of test specimen is analyzed, it, will as shown in Fig. 6 (a)
It is reduced to simple geometric figure, as shown in Fig. 6 (b).
In Fig. 6 (b), D1E1、A1B1、O1C1Respectively representing number is L1、L2、L3LVDT outer displacement sensor, be moved through
Length is respectively L in journey1、L2、L3, wherein A1、O1、 E1For the fixed point of sensor, B1、C1、D1For the hinge of sensor and structure
Contact；A1O1Level, A1O1、B1C1Length be d, E1With O1Horizontal distance be s, vertical range h, C1D1Length is L13；
∠B1C1D1It immobilizes, is θ 1.Take O1Point is coordinate origin, if sensor L1、L2、L3Distinguish with the angle of x1 axis negative direction
For α1、α2、α3。
According to known conditions, the coordinate of each point: O can be written1(0,0), A1(- d, 0), B1(- d-L2cos α 2, L2
Sin α 2), C1(- L3cos α 3, L3sin α 3), E1(s, h), D1(s-L1cos α 1, h+L1sin α 1).It is then corresponding
Vector are as follows:
Since C1B1, C1D1 length are definite value, angle is also definite value, then can list equation
Joint type (12), (13) and (16) can acquire angle α 1, α 2 and α 3, so as to obtain the reality at 205 top of test specimen
Corner
θ '=∠ A1B1C1-α2 (17)
∠ A in formula (17)1B1C1It can be acquired by following formula
Global coordinate system is returned, outer displacement sensor L can be acquired2、L3Be connected the world coordinates of one end with structure
X in formula2,s--- outer displacement sensor L under global coordinate system2Be connected the abscissa (mm) of one end with structure；
Y2,s--- outer displacement sensor L under global coordinate system2Be connected the ordinate (mm) of one end with structure；
X2,f--- outer displacement sensor L under global coordinate system2The abscissa of fixing end
Y2,f--- outer displacement sensor L under global coordinate system2The ordinate of fixing end
X in formula3,s--- outer displacement sensor L under global coordinate system3Be connected the abscissa (mm) of one end with structure；
Y3,s--- outer displacement sensor L under global coordinate system3Be connected the ordinate (mm) of one end with structure；
X3,f--- outer displacement sensor L under global coordinate system3The abscissa of fixing end
Y3,f--- outer displacement sensor L under global coordinate system3The ordinate of fixing end
So as to acquire the real-time coordinates of 205 topside control sites C of test specimen in global coordinate system, the top of test specimen 205 is finally obtained
The real standard in portion is displaced dc' be
The true vertical displacement d in 205 top of test specimen can similarly be obtainedvFor
(b) at pedestal O point
Take out LVDT outer displacement sensor L4、L5、L6And 205 pedestal of test specimen is analyzed, as shown in Fig. 7 (a), and will
It is reduced to simple geometric figure, as shown in Fig. 7 (b).
In Fig. 7 (b), D2E2、A2B2、O2C2Respectively represent LVDT outer displacement sensor L4、L5、L6, during the motion, long
Degree is respectively L4、L5、L6, A2、O2、E2For the fixed point of LVDT outer displacement sensor, B2、C2、D2For LVDT outer displacement sensor
With the hinge joint of pedestal；A2O2Level, A2O2、B2C2Length be d, E2With O2Horizontal distance be s ', vertical range be h ',
C2D2Length is L46；∠B2C2D2It immobilizes, is θ2.Take O2Point is coordinate origin, LVDT outer displacement sensor L4、L5、L6With
x2The angle of axis negative direction is respectively β1、β2、β3。
According to known conditions, the coordinate of each point: O can be written2(0,0), A2(- d, 0), B2(-d-L5·cosβ2,-L5·
sinβ2), C2(-L6·cosβ3,-L6·sinβ3), E2(s ' ,-h '), D2(s′-L4·cosβ1,-h '-L4·sinβ1).Then phase
The vector answered is
Due to C2B2、C2D2Length is definite value, and angle is also definite value, then can list equation
Joint type (23), (24) and (25) can acquire angle beta1、β2And β3, return global coordinate system, can be in the hope of LVDT outside
Displacement sensor L5、L6The world coordinates of one end of being connected with pedestal is
X in formula5,s--- outer displacement sensor L under global coordinate system5Be connected the abscissa (mm) of one end with pedestal；
Y5,s--- outer displacement sensor L under global coordinate system5Be connected the ordinate (mm) of one end with pedestal；
X5,f--- outer displacement sensor L under global coordinate system5The abscissa of fixing end
Y5,f--- outer displacement sensor L under global coordinate system5The ordinate of fixing end
X in formula6,s--- outer displacement sensor L under global coordinate system6Be connected the abscissa (mm) of one end with pedestal；
Y6,s--- outer displacement sensor L under global coordinate system6Be connected the ordinate (mm) of one end with pedestal；
X6,f--- outer displacement sensor L under global coordinate system6The abscissa of fixing end
Y6,f--- outer displacement sensor L under global coordinate system6The ordinate of fixing end
It is so as to acquire the horizontal and vertical displacement of pedestal
D in formulao--- the real-time horizontal displacement (mm) at pedestal O point；
Xo--- the initial abscissa (mm) at pedestal O point.
D in formulavo--- the real-time vertical displacement (mm) at pedestal O point, direction is identical as axle power direction；
Yo--- the initial ordinate (mm) at pedestal O point.
The real standard displacement of test specimen 205 can be acquired by formula (21) and (28)
d1'=dc'-do (30)
The true vertical displacement of test specimen 205 can be acquired by formula (22) and (29)
dv'=dv-dvo (31)
In conclusion nonlinear transformation G2It is determined, by the rotational angle theta ' that formula (17) acquires and the test specimen that formula (30) are acquired
205 horizontal displacement d1' system is fed back to, outer ring displacement, corner feedback control can be realized.
(4) it is poor to make command object and the response of test specimen 205, obtains the control error of system, then control by the same PI
Device is modified, until the control error of system narrows down within an acceptable range.
Repeat step (1)-(4).The realization process is that the method for considering geometrical non-linearity is fed back based on outer displacement, is obtained
205 response curve of test specimen arrived is the curve closest to 205 actual response of test specimen.The response curve and target of test specimen 205 are ordered
The case where enabling the degree of agreement of curve be able to reflect 205 real reaction of test specimen tracking command object.
Application scenarios 2
The application is described below applied to the example under reinforced concrete shear wall stress performance test case.
In shear wall structure system, shear wall end will be by the constraint of adjacent layer wall and floor.In order to make to test
Boundary condition and actual conditions consider that the Three Degree Of Freedom load of geometrical non-linearity is controlled more closely, test is fed back by outer displacement
Method processed realizes the restricted joint angle at the top of shear wall.By carrying out finite element analysis to prototype structure, test shear wall is obtained
Top corners and horizontal displacement are in linear approximate relationship, as shown in Figure 8.
It is described below using the loading system of the application and realizes the specific of shear wall top corners constraint shown in Fig. 8
Example.In the following description, various concrete restrictions are merely to describe the specific example, and be not used in the limitation present invention.This
Field technical staff can use other limiting means according to actual needs.
Xial feed is applied according to the design axial compression ratio of test specimen 205 first；Then, then to test specimen 205 apply hierarchical level
Load, while realizing and horizontal displacement shear wall top section corner in a linear relationship.When bearing capacity is down to the 80%- of peak value
85% (or when horizontal displacement is sufficiently large), load terminates.
Fig. 9 is the experimental rig for realizing 205 vertical load of shear wall test specimen, horizontal reciprocating displacement and top corners.Pass through
Two vertical actuator B, D (± 2000kN) apply vertical force, and two actuator power output summations remain unchanged during test,
By two actuator shift differences to progress corner control at the top of L-type crossbeam and test specimen 205.Horizontal direction is by an actuator A
(± 2000kN) applies reciprocal horizontal load.To prevent shear wall test specimen 205 from plane sliding failure out occurs, side is applied to L-type crossbeam
To constraint.
In load control implementation process in application scenarios two, test loading condition uses dead axle power, becomes and turns
Angle becomes horizontal displacement, and corner and horizontal displacement are in linear relationship shown in Fig. 8.Specific step is as follows:
(1) command object is converted by formula (5) displacement of targets of three actuator first.
(2) displacement of targets of actuator A, B, D are then sent to the load of MTS Control experiment.
(3) displacement of actuator, the power of actuator and the displacement of LVDT outer displacement sensor are collected.Last benefit
Use G2、G3Nonlinear transformation obtains the displacement of 205 real standard of test specimen, corner and vertical axle power.
(4) it is poor to make command object and the response of test specimen 205, obtains the control error of system, then control by the same PI
Device is modified, until the control error of system narrows down within an acceptable range；(1)-(4) process of repetition.
The invention also provides a kind of program products of instruction code for being stored with machine-readable.Described instruction code
When being read and executed by machine, above-mentioned loading control method according to an embodiment of the present invention can be performed.Correspondingly, for carrying
The various storage mediums of this program product are also included in disclosure of the invention.
In the description above to the specific embodiment of the invention, for the feature a kind of embodiment description and/or shown
It can be used in one or more other embodiments in a manner of same or similar, with the spy in other embodiment
Sign is combined, or the feature in substitution other embodiment.
In addition, the method for various embodiments of the present invention be not limited to specifications described in or it is shown in the accompanying drawings
Time sequencing executes, can also be according to other time sequencings, concurrently or independently execute.Therefore, it is retouched in this specification
The execution sequence for the method stated is not construed as limiting technical scope of the invention.
Although being had been disclosed above by the description to specific embodiments of the present invention to the present invention, it answers
The understanding, those skilled in the art can design in the spirit and scope of the appended claims to various modifications of the invention,
Improvement or equivalent.These modifications, improvement or equivalent should also be as being to be considered as included in protection scope of the present invention.
Claims (10)
1. a kind of loading system characterized by comprising
Vertical counterforce device, for providing reaction force for vertical actuator；
Lateral counterforce device, for providing reaction force for horizontal actuator；
Vertical actuator, for providing axle power to test specimen；
Horizontal actuator, for providing cross force to test specimen；
L-type loading beam, under the Collaborative Control of vertical actuator and horizontal actuator carry out horizontal displacement, vertical displacement and
Rotation.
2. loading system according to claim 1, which is characterized in that further include:
Nonlinear transformation device, it is described perpendicular for converting the displacement issued to the loading system, axle power and corner order to
To actuator and the respective displacement of targets of horizontal actuator；
Detector, for obtaining true horizon displacement, corner and the practical axle power of test specimen；
The error of outer ring PI controller, real displacement and corner and practical axle power for obtaining to the detector is continuous
It is modified, to realize the accurate control to test specimen.
3. loading system according to claim 2, which is characterized in that the outer ring PI controller is to displacement, corner, axle power
Difference, the i.e. described error of the displacement of the true horizon of order and test specimen, corner and practical axle power are modified, until the error contracts
It is small to arrive within an acceptable range.
4. loading system according to any one of claim 1-3, which is characterized in that including 2 vertical actuator
With 1 horizontal actuator, and the vertical actuator and horizontal actuator are electro-hydraulic servo actuators, and maximum output is
200t, maximum displacement are ± 250mm.
5. loading system according to any one of claim 1-3, which is characterized in that the vertical counterforce device includes perpendicular
To reaction frame, total height 9.5m.
6. loading system according to any one of claim 1-3, which is characterized in that the transverse direction counterforce device includes anti-
Power wall, height 5m, with a thickness of 3m.
7. loading system according to claim 1, which is characterized in that further include double leval jib, for turning to L-type loading beam
It is dynamic to be constrained.
8. a kind of method for carrying out load control using the loading system of any of the above item claim, which is characterized in that packet
It includes:
Displacement, axle power and corner order are issued to the loading system, the vertical actuator is converted into and horizontal actuator is each
From displacement of targets, act on test specimen, the test specimen made to generate movement.
9. according to the method described in claim 8, it is characterized in that, will be issued to the loading system by nonlinear transformation
Displacement, axle power and corner order, be converted into the vertical actuator and the respective displacement of targets of horizontal actuator；
True horizon displacement, corner and the practical axle power that test specimen is obtained by detector, by outer ring PI controller to actual water
The error of prosposition shifting, corner and practical axle power is constantly corrected, until reaching precision prescribed, to realize the accurate control to test specimen
System.
10. according to the method described in claim 9, it is characterized in that, it is described by outer ring PI controller to actual water prosposition
The error of shifting, corner and practical axle power, which is modified, includes:
The true horizon displacement of displacement, corner, axle power order and test specimen, corner and actual axle masterpiece is poor, obtain the control of system
Error processed, then be modified by the outer ring PI controller, until the control error of system narrows down within an acceptable range.
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