CN110987344B - Three-degree-of-freedom low-frequency vibration test device - Google Patents
Three-degree-of-freedom low-frequency vibration test device Download PDFInfo
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- CN110987344B CN110987344B CN201911246212.7A CN201911246212A CN110987344B CN 110987344 B CN110987344 B CN 110987344B CN 201911246212 A CN201911246212 A CN 201911246212A CN 110987344 B CN110987344 B CN 110987344B
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Abstract
The invention provides a three-degree-of-freedom low-frequency vibration test device which comprises a control system, a power amplification system, a hydraulic system and a vibration platform, wherein the vibration platform is provided with a sensor, and the control system comprises an MIMO controller and a servo controller and is used for outputting and receiving vibration signals and realizing vibration control of the vibration platform; the control system generates a driving voltage signal, the driving voltage signal is input into the hydraulic system after passing through the power amplification system, the hydraulic system is connected with the vibration platform to enable the vibration platform to vibrate, and the sensor detects a vibration response and feeds the response back to the control system; the control system comprises an MIMO controller and a servo controller, wherein the MIMO controller is connected with the servo controller; the vibration platform is a three-degree-of-freedom low-frequency vibration platform and comprises a hydraulic oil cylinder, a hydrostatic bearing, a vibration table board, a sensor and a table board protection device. The system can work at low frequency, has the frequency range of 0.5 Hz-200 Hz, is convenient to operate in real time, and can truly simulate the three-degree-of-freedom actual use environment of the carrier-borne equipment.
Description
Technical Field
The invention relates to the technical field of vibration tests, in particular to a three-degree-of-freedom low-frequency vibration test device.
Background
The existing carrier-based weapon equipment really experiences a multi-degree-of-freedom low-frequency motion or vibration environment. With the updating of ship-borne weaponry, the demand for corresponding real simulated vibration environment is diversified. In order to simulate the real motion or vibration environment faced by the ship-based weaponry more truly, the independent research and development of the vibration test equipment becomes an important trend of development, and the equipment can simulate the low-frequency motion or vibration environment such as inclination and swing experienced by the ship-based weaponry.
At present, no better device exists in China, in particular to a low-frequency motion or vibration test device which has large thrust, multiple degrees of freedom and low working frequency.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a three-degree-of-freedom low-frequency motion or vibration test device which is a multi-dimensional vibration test device, is used for a three-degree-of-freedom low-frequency vibration test equipped with a vibration test, can realize three-degree-of-freedom motion or vibration control including translation and two rotations, and can provide finer three-degree-of-freedom vibration compared with the existing vibration table.
The technical scheme of the invention is as follows:
the vibration platform is provided with a sensor, the control system comprises an MIMO controller and a servo controller, the MIMO controller is in communication connection with the servo controller, and the controller is used for outputting and receiving vibration signals and realizing vibration control of the vibration platform;
the control system generates a driving voltage signal, the driving voltage signal is input into the hydraulic system after passing through the power amplification system, the hydraulic system is connected with the vibration platform to enable the vibration platform to vibrate, and the sensor detects a vibration response and feeds the response back to the control system;
the vibration platform is a three-degree-of-freedom low-frequency vibration platform and comprises a hydraulic oil cylinder, a static pressure bearing, a vibration table board, a sensor and a table board protection device, wherein the hydraulic oil cylinder is connected with the bottom of the vibration table board through the static pressure bearing, the hydraulic oil cylinder is fixed on the ground, and the hydraulic oil cylinder, the static pressure bearing and the table board protection device form a triangular support structure; the sensor comprises an acceleration sensor and a displacement sensor, the acceleration sensor is positioned on a vibration table board close to a hydrostatic bearing, the vibration table board is connected with an MIMO controller in the control system through the acceleration sensor, the displacement sensor is arranged in a hydraulic oil cylinder, the hydraulic oil cylinder is connected with a servo controller in the control system through the displacement sensor, and the table board protection device is connected with the side surface of the vibration table board.
Preferably, the number of the hydraulic oil cylinder, the number of the hydrostatic bearing and the number of the table board protection devices are all three.
Preferably, the vibration table is of an integral aluminum alloy net frame structure.
Preferably, the vibration frequency of the vibration table is in the range of 0.5Hz to 200 Hz.
Preferably, the table-board protection device comprises a support, a ball hinge, a support rod and an adapter plate, wherein the support is fixed on the ground and is connected with one end of the support rod through the ball hinge, the other end of the support rod is connected with the adapter plate through the ball hinge, and the adapter plate is connected with the corresponding side face of the vibration table-board.
Preferably, the three table top protection devices are all connected with the vibration table top, the three table top protection devices comprise a first table top protection device, a second table top protection device and a third table top protection device, the table top protection devices are connected to one side face of the vibration table top, the second table top protection device and the third table top protection device are respectively installed on two side faces perpendicular to the side face where the first table top device is located, and when the system works, the three table top protection devices effectively control the inclination of the vibration table top and achieve three-degree-of-freedom vibration of the vibration table top.
Preferably, the power amplifier system comprises a PLC, a fault acquisition module, a logic fault acquisition module, a man-machine interaction unit and an electrical control unit, wherein the PLC acquires data through processing the fault acquisition module and the logic fault acquisition module, controls parameters of the hydraulic oil cylinder through the electrical control unit, displays and feeds back through a human-machine interface HMI24, and monitors the data in real time.
Preferably, hydraulic system includes oil tank, main pump system, circulative cooling filtration system, oil tank detecting element, energy storage ware and high-pressure filtration system, the oil tank is hydraulic system oil storage, and the main pump system is got oil from the oil tank, supplies oil for the vibration platform through high-pressure filtration system, and the oil return gets back to the oil tank after circulative cooling filtration system cooling filtration, liquid level and oil temperature in the oil tank are monitored in real time to oil tank detecting element, the energy storage ware is used for adjusting the pipeline pressure fluctuation.
Compared with the prior art, the invention has the advantages that:
1. the vibration platform is a three-degree-of-freedom low-frequency vibration platform, and three-degree-of-freedom movement or vibration control including translation and two rotations can be realized; compared with other existing vibration test beds, the vibration test bed can provide larger thrust.
2. The three-degree-of-freedom low-frequency vibration system can work at low frequency, has the frequency range of 0.5 Hz-200 Hz, is convenient to operate in real time, and can truly simulate the three-degree-of-freedom actual use environment of carrier-borne equipment.
Drawings
FIG. 1 is a system diagram of a three-degree-of-freedom low-frequency vibration testing apparatus according to the present invention;
FIG. 2 is a schematic structural diagram of a vibration platform of the three-degree-of-freedom low-frequency vibration testing apparatus according to the present invention;
FIG. 3 is a schematic structural view of a tabletop protection device according to the invention;
FIG. 4 is a schematic diagram of a power amplifier system of the three-degree-of-freedom low-frequency vibration test apparatus according to the present invention;
fig. 5 is a schematic view of a hydraulic system of the three-degree-of-freedom low-frequency vibration testing apparatus according to the present invention.
Detailed Description
Hereinafter, embodiments, specific configurations, and operation principles of the present invention will be described with reference to the drawings and the specific embodiments.
Fig. 1 shows a three-degree-of-freedom low-frequency vibration test apparatus according to an embodiment of the present invention, which includes a control system 1, a power amplifier system 2, a hydraulic system 3, and a vibration platform 4.
The control system 1 generates a driving voltage signal, the driving voltage signal is input into the hydraulic system 3 after passing through the power amplifier system 2, the hydraulic system 3 is connected with the vibration platform 4, the vibration platform 4 generates vibration, and meanwhile, the response on the vibration platform 4 is fed back to the control system 1, so that vibration control is realized.
Preferably, the control system 1 comprises a MIMO controller 11 and a servo controller 12. The MIMO controller 11 communicates with the servo controller 12, and the MIMO controller 11 and the servo controller 12 can output and receive vibration signals to realize vibration control of the vibration platform 4.
Preferably, as shown in fig. 2, the vibration platform 4 is a three-degree-of-freedom low-frequency vibration platform.
Preferably, the vibration table 4 includes a hydraulic cylinder 41, a hydrostatic bearing 42, a vibration table 43, a sensor 44, and a table guard 45.
Preferably, in the present embodiment, the number of hydraulic cylinders 41 is three.
Preferably, in the present embodiment, the number of the hydrostatic bearings 42 is three.
Preferably, in the present embodiment, the vibration table 43 is an integral aluminum alloy mesh frame structure. In other embodiments, other integral structures are possible.
Preferably, in the present embodiment, the number of sensors 44 is three, and each set of sensors includes one acceleration sensor 441 and one displacement sensor 442.
Preferably, the number of the table top protection devices 45 is three, and the table top protection device 45 comprises a support 451, a ball pivot 452, a support bar 453 and an adapter plate 454, so that the table top protection device 45 can effectively control the inclination of the vibration table top 43 when the system is in operation. The hydraulic oil cylinder 41 is connected with the bottom of the vibration table 43 through a static pressure bearing 42, and the three points are supported in a triangular shape.
An acceleration sensor 441 in the sensor 44 is positioned on the vibration table 43 near the hydrostatic bearing 42, and the acceleration sensor 441 is connected with the MIMO controller 11; a displacement sensor 442 of the sensors 44 is located within the hydraulic cylinder 41, and the displacement sensor 442 is connected to the servo controller 12.
Preferably, as shown in fig. 2, the table top protection device 45 is connected with the vibration table top 43, one of the three table top protection devices 45 is connected to one side of the vibration table top 43, the other two table top protection devices 45 are respectively installed on two sides perpendicular to the side where the previous table top protection device is located, and the installation directions of the three table top protection devices 45 are the same.
Preferably, as shown in fig. 3, the support 451 of the table top protection device 45 is fixed on the ground and connected to one end of a support bar 453 through a ball hinge 452, the other end of the support bar 453 is connected to an adapter plate 454 through the ball hinge 452, and the adapter plate 454 is connected to the corresponding side of the vibration table top 43.
More specifically, the three-degree-of-freedom low-frequency vibration test device comprises 1 set of control system, 1 set of power amplification system, 1 set of hydraulic system and 1 three-degree-of-freedom low-frequency vibration platform.
The control system comprises 1 set of MIMO controller and 1 set of servo controller. The vibration platform comprises 3 hydraulic oil cylinders, 3 hydrostatic bearings, 1 vibration table, 3 sets of sensors and 3 table protection devices. The sensor comprises 1 set of acceleration sensor and 1 set of displacement sensor.
The MIMO controller drives the voltage signal to pass through the servo controller, and drives 3 hydraulic oil cylinders after passing through the power amplifier system and the hydraulic system. The 3 hydraulic cylinders enable the vibration table to vibrate through the 3 hydrostatic bearings, and the table top protection device protects the vibration table top and realizes three-degree-of-freedom vibration of the vibration table top at the same time; when the vibration table is vibrated at high frequency, the acceleration response on the control point of the vibration table is fed back to the MIMO controller; during low-frequency vibration, the displacement response on the control point of the hydraulic oil cylinder is fed back to the MIMO controller through the servo controller; the MIMO controller compares and corrects the parameters (such as amplitude value) of the response, so that the response generated by the drive signal of the MIMO controller meets the requirement of the test condition. The table board protection device is connected with the side face of the vibration table board, when the system works, the table board protection device effectively controls the inclination of the vibration table board, and meanwhile three-degree-of-freedom vibration of the vibration table board is achieved.
Fig. 4 is a schematic diagram illustrating the operation principle of the power amplifier system according to the present invention.
The power amplifier system 2 comprises a PLC21, a fault collection module 22, a logic fault collection module 23, an HMI (human machine interaction unit) 24 and an electrical control unit 25.
Preferably, PLC21 collects data by processing fault collection module 22 and logic fault collection module 23, controls parameters of hydraulic ram 41, such as amplitude, through electrical control unit 25, and monitors the data in real time through display feedback through human-machine interface HMI 24.
A schematic diagram of the operating principle of the hydraulic system according to the invention is shown in fig. 5.
The hydraulic system comprises an oil tank 31, a main pump system 32, a circulating cooling filtering system 33, an oil tank detector 34, an accumulator 35 and a high-pressure filtering system 36.
Preferably, the oil tank 31 is used for storing oil for the hydraulic system, and the main pump system 32 is used for taking oil from the oil tank 31 and supplying the oil to the vibration platform 4 through the high-pressure filtering system 36.
Preferably, the return oil is cooled and filtered by the circulating cooling filter system 33 and then returned to the oil tank 31.
Preferably, the tank detection unit 34 monitors the liquid level and the oil temperature in the tank 31 in real time to ensure the normal operation of the system.
Preferably, the accumulator 35 regulates line pressure fluctuations.
The working principle of the invention is further described below with reference to specific implementation steps:
the power supply, hydroelectric facilities and operating system connections were checked prior to the vibration test. And (4) turning on a system power supply, sequentially turning on corresponding switches in sequence after the system is normal, and starting the vibration control system after the vibration control system is connected.
And connecting the power amplifier system with the MIMO controller, and automatically loading the power amplifier system into the vibration control system after the computer is powered on to start a vibration test.
When the test is carried out for the first time, a new test file needs to be created, a test program file setting window is entered, general parameters, control parameters, shutdown parameters, data storage parameters and system parameter settings are respectively set, and then a vibration test mode is started. If the existing test program file is selected, the vibration test can be directly carried out.
The PLC21 collects data by processing the fault collection module 22 and the logic fault collection module 23, controls parameters of the hydraulic cylinder 41 such as amplitude through the electric control unit 25, and performs display feedback through the human-machine interface HMI24 to perform real-time monitoring on the data.
1. The vibration platform is a three-degree-of-freedom low-frequency vibration platform, and three-degree-of-freedom movement or vibration control including translation and two rotations can be realized; compared with other existing vibration test beds, the vibration test bed can provide larger thrust.
2. The three-degree-of-freedom low-frequency vibration system can work at low frequency, has the frequency range of 0.5 Hz-200 Hz, is convenient to operate in real time, and can truly simulate the three-degree-of-freedom actual use environment of carrier-borne equipment.
The above examples are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (5)
1. A three-degree-of-freedom low-frequency vibration test device is characterized in that: the vibration platform is provided with a sensor, the control system comprises an MIMO controller and a servo controller, the MIMO controller is in communication connection with the servo controller, and the control system is used for outputting and receiving vibration signals and realizing vibration control of the vibration platform;
the control system generates a driving voltage signal, the driving voltage signal is input into the hydraulic system after passing through the power amplification system, the hydraulic system is connected with the vibration platform to enable the vibration platform to vibrate, and the sensor detects a vibration response and feeds the response back to the control system;
the vibration platform is a three-degree-of-freedom low-frequency vibration platform and comprises a hydraulic oil cylinder, a static pressure bearing, a vibration table board, a sensor and a table board protection device, wherein the hydraulic oil cylinder is connected with the bottom of the vibration table board through the static pressure bearing, the hydraulic oil cylinder is fixed on the ground, and the hydraulic oil cylinder, the static pressure bearing and the table board protection device form a triangular support structure; the sensor comprises an acceleration sensor and a displacement sensor, the acceleration sensor is positioned on a vibration table board close to a hydrostatic bearing, the vibration table board is connected with an MIMO controller in the control system through the acceleration sensor, the displacement sensor is arranged in a hydraulic oil cylinder, the hydraulic oil cylinder is connected with a servo controller in the control system through the displacement sensor, and the table board protection device is connected with the side surface of the vibration table board;
the number of the hydraulic oil cylinders, the number of the hydrostatic bearings and the number of the table board protection devices are three;
the table board protection device comprises a support, a ball hinge, a support rod and an adapter plate, wherein the support is fixed on the ground and is connected with one end of the support rod through the ball hinge, the other end of the support rod is connected with the adapter plate through the ball hinge, and the adapter plate is connected with the corresponding side surface of the vibration table board;
the three table board protection devices are all connected with the vibration table board and comprise a first table board protection device, a second table board protection device and a third table board protection device, the table board protection devices are connected to one side face of the vibration table board, the second table board protection device and the third table board protection devices are respectively installed on two side faces perpendicular to the side face where the first table board device is located, and when the system works, the three table board protection devices effectively control the inclination of the vibration table board and achieve three-degree-of-freedom vibration of the vibration table board.
2. The three-degree-of-freedom low-frequency vibration testing device according to claim 1, characterized in that: the vibration table-board is an integral aluminum alloy net-shaped frame structure.
3. The three-degree-of-freedom low-frequency vibration testing device according to claim 2, characterized in that: the range of the vibration frequency of the vibration table is 0.5 Hz-200 Hz.
4. The three-degree-of-freedom low-frequency vibration testing device according to claim 1, characterized in that: the power amplifier system comprises a PLC, a fault acquisition module, a logic fault acquisition module, a man-machine interaction unit and an electrical control unit, wherein the PLC acquires data through the processing fault acquisition module and the logic fault acquisition module, controls parameters of the hydraulic oil cylinder through the electrical control unit, displays and feeds back through a human-machine interface HMI24, and monitors the data in real time.
5. The three-degree-of-freedom low-frequency vibration testing device according to claim 1, characterized in that: hydraulic system includes oil tank, main pump system, circulative cooling filtration system, oil tank detecting element, energy storage ware and high-pressure filtration system, the oil tank is hydraulic system oil storage, and the main pump system gets oil from the oil tank, gives the vibration platform fuel feeding through high-pressure filtration system, and the oil return gets back to the oil tank after circulative cooling filtration system cooling, liquid level and oil temperature in the oil tank are monitored in real time to oil tank detecting element, the energy storage ware is used for adjusting pipeline pressure fluctuation.
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| CN111596602B (en) * | 2020-05-14 | 2021-11-12 | 北京工业大学 | Multi-degree-of-freedom human factor engineering vibration platform remote intelligent monitoring system |
| CN112098026B (en) * | 2020-09-08 | 2022-08-09 | 杭州亿恒科技有限公司 | Noise and loop detection accelerating method and system |
| CN115076164B (en) * | 2022-05-13 | 2024-07-16 | 浙江大学高端装备研究院 | Test platform for centrifugal machine airborne hydraulic servo high-frequency earthquake simulation experiment |
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| CN105510011A (en) * | 2015-12-01 | 2016-04-20 | 长春工业大学 | Three-degree-of-freedom thermal fatigue testing device used for metal bellows of vehicle exhaust system |
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| CN110221101A (en) * | 2019-05-30 | 2019-09-10 | 浙江埃特斯力试验设备有限公司 | Low-frequency standard vibration platform based on overall-finished housing |
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