CN109798341A - A kind of Simulation of depth system - Google Patents
A kind of Simulation of depth system Download PDFInfo
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- CN109798341A CN109798341A CN201910157938.7A CN201910157938A CN109798341A CN 109798341 A CN109798341 A CN 109798341A CN 201910157938 A CN201910157938 A CN 201910157938A CN 109798341 A CN109798341 A CN 109798341A
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Abstract
The invention discloses a kind of Simulation of depth systems, and the system comprises system drive unit, mechanical execution unit and hydraulic and sensor-based system units, in which: the system drive unit includes servo motor and parallel band shaft coupling；The machinery execution unit includes ball-screw, guiding mounting plate and link block；Described hydraulic and sensor-based system unit includes supplement fuel tank, check valve, transducing part and coupling；The transducing part includes closed containing cavity and the pressure sensor that is attached thereto by hydraulic valve block；The hydraulic cylinder rod of ball-screw and hydraulic cylinder is installed on the guiding mounting plate；The servo motor is connected by parallel band shaft coupling with ball-screw；The ball-screw is connected by link block with the hydraulic cylinder rod of hydraulic cylinder；The supplement fuel tank is connected with check valve；The check valve is connect with hydraulic cylinder and closed containing cavity respectively；The closed containing cavity is connected with hydraulic cylinder and coupling respectively.The present invention solves out-of-control phenomenon of traditional fluid pressure type electro-hydraulic servo depth simulator when pressure difference is too small.
Description
Technical field
The invention belongs to mechanical electronic hydraulic servo-control system fields, are related to a kind of Simulation of depth system.
Background technique
Current Simulation of depth system both domestic and external is mostly using fluid pressure type electrohydraulic servo system, usually using a constant pressure oil
Source simultaneously uses electrohydraulic servo valve as electro-hydraulic conversion execution part, and such Simulation of depth system response time is fast, controls precision
It is high；But restriction of this system by principle, when pressure is close to zero, for servo valve, output flow can become non-
Often small, this results in pressure drop rate that can become abnormal slow, or even pressure runaway phenomenon occurs, is not able to satisfy it practical underwater
Demand during the pressure simulation of aircraft uphill process when smaller pressure.
Summary of the invention
In order to solve the above-mentioned problems of the prior art, while the advantages of have fast response time, control precision height etc. concurrently,
And realize miniaturized structure, the present invention provides the Simulation of depth systems under a kind of new principle.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of Simulation of depth system, including system drive unit, mechanical execution unit and hydraulic and sensor-based system unit,
In:
The system drive unit includes servo motor and parallel band shaft coupling；
The machinery execution unit includes ball-screw, guiding mounting plate and link block；
Described hydraulic and sensor-based system unit includes supplement fuel tank, check valve, transducing part and coupling；
The transducing part includes closed containing cavity and the pressure sensor that is attached thereto by hydraulic valve block；
The hydraulic cylinder rod of ball-screw and hydraulic cylinder is installed on the guiding mounting plate；
The servo motor is connected by parallel band shaft coupling with ball-screw；
The ball-screw is connected by link block with the hydraulic cylinder rod of hydraulic cylinder；
The supplement fuel tank is connected with check valve；
The check valve is connect with hydraulic cylinder and closed containing cavity respectively；
The closed containing cavity is connected with hydraulic cylinder and coupling respectively.
Compared with the prior art, the present invention has the advantage that
1, the present invention writing by control program adjusts servo motor rotation, control ball-screw movement, band hydrodynamic pressure
Cylinder rod is mobile to cause closed containing cavity fluid pressure to change, and realizes the detection and output of goal pressure.
2, the present invention has evaded the defect out of control under conventional hydraulic formula electrohydraulic servo system valve control principle under low-pressure state, gathers around
There are fast response time, control precision height, miniaturized structure etc., is the optimal selection of Simulation of depth.
3, the present invention is pressure drop rate when solving that pressure is close to zero in fluid pressure type electrohydraulic servo system principle in the prior art
It can become abnormal slow, or even the problem of limitation of pressure runaway phenomenon occur, improve the pressure simulation model of Simulation of depth system
The advantages of enclosing, while retaining original system fast response time, control precision height etc., replaces thinking, then is based on mechanical electronic hydraulic servo control
System processed is controlled using the variation of the volume of closed containing cavity, realizes the control to target depth pressure, possess good export
Matter.
Detailed description of the invention
Fig. 1 is the schematic diagram of Simulation of depth system of the present invention；
Fig. 2 is the principle sketch of Simulation of depth system of the present invention；
In figure: 1 is system drive unit；1-1 is servo motor；1-2 is parallel band connecting shaft；2-1 is ball-screw；2-2
To be oriented to mounting plate；2-3 is link block；2-4 is hydraulic cylinder；3-1 is supplement fuel tank；3-2 is check valve；3-3 is closed containing cavity；
3-4 is pressure sensor；3-5 is coupling.
Specific embodiment
Further description of the technical solution of the present invention with reference to the accompanying drawing, and however, it is not limited to this, all to this
Inventive technique scheme is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered
Within the protection scope of the present invention.
Specific embodiment 1: as shown in Figs. 1-2, the Simulation of depth system that present embodiment provides includes system drive list
Member 1, mechanical execution unit and hydraulic and sensor-based system unit, the output of system drive unit 1 control mechanical execution unit, control machine
Tool execution unit is connected with hydraulic and sensor-based system unit, in which:
The system drive unit 1 includes servo motor 1-1 and parallel band shaft coupling 1-2；
The machinery execution unit includes ball-screw 2-1, guiding mounting plate 2-2 and link block 2-3；
Described hydraulic and sensor-based system unit includes supplement fuel tank 3-1, check valve 3-2, transducing part and coupling 3-5；
It is to guarantee the closed containing cavity 3-3 of control precision setting and pass through hydraulic valve block therewith that the transducing part, which includes one,
Connected pressure sensor 3-4；
The control output signal of the system drive unit 1 inputs the motor servo driver of mechanical execution unit；
The servo motor 1-1 is connected with ball-screw 2-1 by parallel band shaft coupling 1-2, using guiding mounting plate 2-2 and
Link block 2-3 makes ball-screw 2-1 and the hydraulic cylinder rod of hydraulic cylinder 2-4 be connected, and guarantees concentricity and relative position；
The supplement fuel tank 3-1 is connected with check valve 3-2, control liquid can only be flowed out from fuel tank, check valve 3-2 respectively with
Hydraulic cylinder 2-4 is connected with closed containing cavity 3-3；
The closed containing cavity 3-3 is connected with hydraulic cylinder 2-4 and coupling 3-5 respectively.
In present embodiment, servo motor 1-1 drives ball-screw 2-1, and ball-screw 2-1 and hydraulic cylinder rod are coaxially consistent
Movement, closed containing cavity 3-3 connection pressure sensor 3-4, while external pressure are drawn.The present invention passes through the system write and controls journey
Sequence, adjusts the rotation of servo motor 1-1, and control ball-screw 2-1 movement drives hydraulic cylinder rod movement to cause closed containing cavity 3-3
Interior fluid pressure variation, realizes the detection and output of goal pressure.
Specific embodiment 2: the present embodiment is different from the first embodiment in that, in the system drive unit,
The control program of servo motor 1-1 mainly includes the signal acquisition and selection, the drafting of expecting pressure curve, meter of pressure sensor
It calculates deviation and output signal and controls the output of signal.
The voltage signal being connected with pressure sensor and the pressure signal for being translated into system are read by board.
A pressure curve is preset, using controller, adjusts output signal, the analog signal that will be output as driver is defeated
Enter to adjust the driver of servo motor 1-1, adjust servo motor 1-1 rotation, to reach the effect of control ball-screw 2-1 speed
Fruit.
Specific embodiment 3: the present embodiment is different from the first embodiment in that, in the machinery execution unit,
The electric ball screw that ball-screw 2-1 selects transmission accuracy as high as possible.
Since the liquid mass flow of this electro-hydraulic servo depth simulator during the work time is constant, and the compression of liquid reservoir is complete
By servo motor 1-1 driving ball-screw 2-1 realize, so first from load in speed progress ball-screw 2-1 with it is hydraulic
The type selecting of cylinder 2-4.
Specific embodiment 4: the present embodiment is different from the first embodiment in that, described hydraulic and sensor-based system
In unit, hydraulic cylinder rod chamber is directly connected with closed containing cavity 3-3 and pressure sensor 3-4, due to closed containing cavity 3-3 volume compared with
It is small, so not having to additional designs cavity, only the Hydraulic Valve Block Design for connecting pressure sensor 3-4 need to be gone out certain cavity.
Pressure sensor 3-4 is used for the actual pressure of measuring system, and range needed for measurement range meets has high-precision
Feature.
Specific embodiment 5: the present embodiment is different from the first embodiment in that, the coupling 3-5 can pass through
Quick-release connector is directly communicated with the outside.
Specific embodiment 6: the present embodiment is different from the first embodiment in that, the guiding mounting plate 2-2 with
Ball-screw 2-1, which is adopted, to be hinged.
Specific embodiment 7: the present embodiment is different from the first embodiment in that, the supplement fuel tank 3-1 can be mentioned
Working media is supplemented for required enough.
Specific embodiment 8: present embodiment devises the small-sized depth mould that a analog depth range is 0~1000m
Quasi- system prototype, maximum pressure gradient reach 0.2Mpa/s, control precision be ± 0.05MPa in 0~0.5MPa, 0.5~
It is ± 0.08MPa when 1MPa, is ± 0.1MPa in 1~10MPa.
The design of mechanical execution part:
Selection transmission accuracy electric ball screw as high as possible first, comprehensively considers the precision and performance of ball-screw,
The selected electric ball screw using Thomson, model PC32PA99B04-0500RM1, transmission accuracy Δ lmin=0.05mm；
The servo motor of selected Kollmorgen, model AKM24F-ANB2R-00, power 900W；The driver of selected Kollmorgen,
Model AKD-P00306-NBAN-0000.
Taking closed small cavity is 0.5L, the rod chamber pressure application surface product S=1.3638e-5m of actual hydraulic pressure cylinder2, practical
Total kilometres are 0.4045m.
Hydraulic and sensor-based system design:
The Hydraulic Valve Block Design for connecting pressure sensor is gone out to certain cavity, guarantees that cavity, pipeline and hydraulic cylinder have
The sum of volume of rod cavity is 0.5L.
Pressure capsule system uses measurement range for 0~15Mpa, and the pressure sensor that trueness error is 0.2% measures system
The actual pressure of system.
The design of control system:
What the control program of electro-hydraulic servo depth simulator was write by C++Builder, program mainly includes pressure sensing
The signal acquisition of device and selection, the drafting of expecting pressure curve calculate deviation and output signal and control the output of signal.
It reads the AI0 channel voltage signal for the board PCI-4716 being connected with pressure sensor and is translated into system
Pressure signal.
A pressure curve is preset, with 5ms for a control period.Then output signal is adjusted using PID control, by it
It is output to the channel AO0 of board, the analog signal input that finally will be output as driver adjusts the revolving speed of servo motor, thus
Achieve the effect that control ball-screw speed.
Simulation of depth system of the invention is a kind of mechanical electronic hydraulic servo-control system, i.e., using servo motor 1-1 control rolling
Ballscrew 2-1 movement drives hydraulic cylinder piston movement to compress or discharge the volume of closed containing cavity, to reach raising and reduce
The purpose of chamber pressure.The control precision of this loading method depends on caused by the transmission accuracy of servo electric jar ball-screw
Pressure change, response speed depend on ball-screw pull hydraulic cylinder speed, theoretically also have fast response time, control
Precision processed is high, simultaneously because the closed containing cavity fluid pressure variation that this system is constituted is drawn by the variation of closed containing cavity volume entirely
It rises, so avoiding fluid pressure type electrohydraulic servo system without limitation in the pressure limit that equipment allows and being dropped in simulated pressure
It is low close to zero when simulation blind area, from this angle, the present invention solves traditional fluid pressure type electro-hydraulic servo Simulation of depth
Out-of-control phenomenon of the device when pressure difference is too small.
Claims (6)
1. a kind of Simulation of depth system, it is characterised in that the system comprises system drive units, mechanical execution unit and hydraulic
And sensor-based system unit, in which:
The system drive unit includes servo motor and parallel band shaft coupling；
The machinery execution unit includes ball-screw, guiding mounting plate and link block；
Described hydraulic and sensor-based system unit includes supplement fuel tank, check valve, transducing part and coupling；
The transducing part includes closed containing cavity and the pressure sensor that is attached thereto by hydraulic valve block；
The hydraulic cylinder rod of ball-screw and hydraulic cylinder is installed on the guiding mounting plate；
The servo motor is connected by parallel band shaft coupling with ball-screw；
The ball-screw is connected by link block with the hydraulic cylinder rod of hydraulic cylinder；
The supplement fuel tank is connected with check valve；
The check valve is connect with hydraulic cylinder and closed containing cavity respectively；
The closed containing cavity is connected with hydraulic cylinder and coupling respectively.
2. Simulation of depth system according to claim 1, it is characterised in that the ball-screw and hydraulic cylinder rod are coaxial.
3. Simulation of depth system according to claim 1, it is characterised in that the ball-screw is electric ball screw.
4. Simulation of depth system according to claim 1, it is characterised in that the Hydraulic Valve Block Design has cavity.
5. Simulation of depth system according to claim 1, it is characterised in that the coupling by quick-release connector directly with
Outside is connected.
6. Simulation of depth system according to claim 1, it is characterised in that the guiding mounting plate and ball-screw use
Hinge connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910157938.7A CN109798341A (en) | 2019-03-02 | 2019-03-02 | A kind of Simulation of depth system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910157938.7A CN109798341A (en) | 2019-03-02 | 2019-03-02 | A kind of Simulation of depth system |
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| CN109798341A true CN109798341A (en) | 2019-05-24 |
Family
ID=66561545
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| CN201910157938.7A Pending CN109798341A (en) | 2019-03-02 | 2019-03-02 | A kind of Simulation of depth system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923809A (en) * | 2020-12-15 | 2021-06-08 | 西安航天动力研究所 | Depth simulation system |
| CN114519252A (en) * | 2021-12-30 | 2022-05-20 | 北京航天益森风洞工程技术有限公司 | Simulation method of underwater launching test environment |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923809A (en) * | 2020-12-15 | 2021-06-08 | 西安航天动力研究所 | Depth simulation system |
| CN112923809B (en) * | 2020-12-15 | 2023-02-14 | 西安航天动力研究所 | Depth simulation system |
| CN114519252A (en) * | 2021-12-30 | 2022-05-20 | 北京航天益森风洞工程技术有限公司 | Simulation method of underwater launching test environment |
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