CN111366322A - Hybrid test control system and test method based on hydraulic actuator - Google Patents
Hybrid test control system and test method based on hydraulic actuator Download PDFInfo
- Publication number
- CN111366322A CN111366322A CN202010227182.1A CN202010227182A CN111366322A CN 111366322 A CN111366322 A CN 111366322A CN 202010227182 A CN202010227182 A CN 202010227182A CN 111366322 A CN111366322 A CN 111366322A
- Authority
- CN
- China
- Prior art keywords
- test
- signal
- module
- hydraulic actuator
- substructure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/025—Measuring arrangements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention relates to a hybrid test control system and a test method based on a hydraulic actuator, wherein the system comprises a numerical substructure module, a Matlab calculation module, an STM32 single-chip microcomputer controller, a hydraulic actuator loading device, a data acquisition module and a test substructure module. The system adopts hydraulic loading equipment as an excitation source of the hybrid test system, utilizes an STM32 single-chip microcomputer controller to control the hydraulic loading equipment, and utilizes OpenSees-Matlab software, a serial communication technology, a feedback algorithm, a displacement sensor, a force sensor and the like to build a set of complete hybrid test system comprising a software program and hardware equipment. The invention solves the problems of lower precision and time delay of the experimental equipment in the traditional electrodynamic vibration exciter mixing test system, improves the stability and the test precision of the whole set of experimental equipment, and shortens the experimental loading reaction time. The invention also has the characteristics of wide test working condition of the test system, easy transplantation of test procedures and easy control of the test system.
Description
Technical Field
The invention relates to a hydraulic actuator-based hybrid test control system and a hydraulic actuator-based hybrid test method, and belongs to the technical field of civil engineering structure anti-seismic tests.
Background
Earthquakes are one of the natural disasters which are the biggest hazards to the safety of human life and property. The occurrence of earthquake has uncertainty, and at present, people cannot realize accurate prediction of earthquake, so that disasters caused by the earthquake to human society are continuous. Over the last century, data are not completely counted, the number of dead people caused by earthquake reaches more than 150 million worldwide, wherein the number of Chinese people reaches more than 50 million, the economic loss caused by earthquake reaches more than 2500 billion dollars worldwide, and the number of Chinese people reaches nearly one billion dollars. The importance of improving the seismic performance of building structures has also been increasingly recognized from seismic disasters. For earthquake disasters, an effective structural earthquake-resistant design method is currently used, and is a practical and feasible scheme for improving the earthquake resistance of a house and avoiding serious damage and collapse of a structure. A reasonable structural seismic design method needs corresponding seismic theory support and verification of a seismic test, and development of structural seismic test research and development of the structural seismic theory complement each other.
With the progress of scientific technology, the appearance of various novel earthquake-resistant design theories, building earthquake-resistant structure construction forms, earthquake-resistant energy dissipation and shock absorption technologies and other technologies enables the traditional structure earthquake-resistant technology to be perfected and developed. In the process of developing an earthquake-proof design theory, an earthquake-proof test technology plays a very important role, can effectively verify the response of a structure in an earthquake action, and is a necessary means for researching various earthquake-proof theories and technologies.
The traditional anti-seismic test technology is divided into three types, namely a pseudo-static test, a pseudo-dynamic test and an earthquake simulation shaking table test. With the deep research of people on earthquake resisting theory, some earthquake resisting materials and test pieces related to speed and acceleration are applied to building structures, and the earthquake resisting materials and the test pieces require quick or even real-time loading in the earthquake resisting test process, which provides a new challenge for the earthquake resisting test of the structures.
How to obtain the response of a novel anti-seismic test piece in an earthquake by using the test cost and equipment with lower requirements becomes an urgent problem to be solved by the anti-seismic test technology.
Disclosure of Invention
Aiming at the technical problems, the invention provides a hydraulic actuator-based hybrid test control system and a test method, which solve the problems of low precision and time delay of test equipment in the traditional electrodynamic vibration exciter hybrid test system, improve the stability and test precision of the whole set of test equipment and shorten the test loading reaction time. The invention also has the characteristics of wide test working condition of the test system, easy transplantation of test procedures and easy control of the test system.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a hydraulic actuator based hybrid test control system, comprising:
the test substructure module is arranged on the engineering structure to be detected;
the acquisition end of the data acquisition module is butted with the test substructure module and is used for acquiring the dynamic response data of the test substructure module in real time;
the numerical value substructure module is used for establishing a numerical value substructure model corresponding to the engineering structure to be detected by utilizing OpenSees, acquiring a response signal of the numerical value substructure model based on an excitation signal from the Matlab computing module, and sending the response signal to the Matlab computing module;
the Matlab computing module is used for generating an excitation signal according to the power response data from the STM32 single chip microcomputer controller and sending the excitation signal to the numerical value substructure module;
the Matlab communication module is used for transmitting the data processed by the Matlab calculation module to the numerical substructure module to perform numerical calculation on the house structure so as to realize the online mixed test of the house structure damping analysis and the earthquake simulation;
the STM32 single-chip microcomputer controller is used for obtaining a control signal loading command of the hydraulic actuator loading device according to the control signal command from the Matlab computing module and sending the control signal command to the hydraulic actuator loading device;
hydraulic actuator loading device for according to the actuator loading control signal order that comes from STM32 single chip microcomputer controller, carry out motion control to experimental substructure, include: an electro-hydraulic servo valve, a servo oil cylinder, an A/D conversion circuit, a D/A conversion circuit, wherein,
the STM32 single chip microcomputer controller acquires a voltage value or a current value of a given signal and a voltage feedback signal or a current feedback signal of a data acquisition module through an A/D conversion circuit, calculates a difference value between the given signal and the feedback signal, takes the difference value as an input quantity, obtains a digital output quantity through calculation and processing of the STM32 single chip microcomputer controller, and converts the digital output quantity into a voltage signal or a current signal through the D/A conversion circuit to serve as a control signal of the electro-hydraulic servo valve;
the electro-hydraulic servo valve converts an electric signal into hydraulic energy to drive a servo oil cylinder piston;
and the piston on the servo oil cylinder moves towards the direction of reducing deviation, and the electric signal is converted into mechanical energy.
And the piston on the servo oil cylinder moves towards the direction of reducing deviation, and the electric signal is converted into mechanical energy.
The numerical value substructure module is in real-time bidirectional communication butt joint with the Matlab computing module;
the Matlab computing module is in real-time bidirectional communication butt joint with an STM32 single-chip microcomputer controller;
the output end of the STM32 single-chip microcomputer controller is in butt joint with the hydraulic actuator loading device, and the output end of the hydraulic actuator loading device is in butt joint with the test substructure;
the Matlab communication module enables data to be transmitted between the numerical value substructure module and the STM32 single chip microcomputer controller in real time, and bidirectional communication is carried out;
the Matlab computing module generates an excitation signal according to the dynamic response data from the STM32 singlechip controller and sends the excitation signal to the numerical substructure module; the Matlab computing module obtains a corresponding control signal command according to the response signal from the numerical substructure module and sends the control signal command to the STM32 single chip microcomputer controller; wherein the excitation signal comprises a seismic excitation and a counter force of the test sub-structure.
The hydraulic actuator loading device is fixed on the adjustable support, and the position of the hydraulic actuator loading device is adjusted by adjusting the adjustable support so as to be suitable for different test requirements.
The data acquisition module comprises a magnetostrictive displacement sensor and a pressure sensor module.
The test sub-structure module is a certain nonlinear component in the structure, a component which is difficult to model, or a component which needs to detect performance.
STM32 singlechip controller selects STM32F767 series singlechip.
A testing method using the hydraulic actuator-based hybrid test control system, comprising the steps of:
s1, the numerical value substructure module calculates an initial signal according to the numerical model of different seismic waves and sends the initial signal to the Matlab calculation module;
s2, the STM32 singlechip controller converts the initial signal digital output quantity into a voltage signal or a current signal through a D/A conversion circuit to be used as a control signal of the electro-hydraulic servo valve;
s3, converting the control signal into hydraulic energy by the electro-hydraulic servo valve to drive the servo oil cylinder piston, making the servo oil cylinder piston move towards the direction of reducing deviation, and converting the electric signal into mechanical energy;
s4, loading mechanical energy to a test load by the hydraulic actuating head;
s5, connecting a test load with a hydraulic actuator, receiving the loading of the actuator, generating corresponding deformation, and generating displacement and force data;
s6, the data acquisition module acquires the real-time displacement and stress condition of the test load,
s7, the STM32 singlechip controller collects the voltage value or the current value of a given signal and the voltage feedback signal or the current feedback signal of a position sensor through an A/D conversion circuit, and calculates the difference value of the given signal and the feedback signal;
s8, taking the difference value as an input quantity, and correspondingly calculating and processing through an algorithm integrated in the STM32 single chip microcomputer controller to obtain a digital output quantity signal;
and S9, transmitting the digital output quantity signal obtained in the step S8 to an OpenSees numerical value substructure module through a communication module of the STM32 singlechip controller by the STM32 singlechip controller, and performing numerical calculation by the OpenSees numerical value substructure module to obtain a driving signal of the next step.
The STM32 single chip microcomputer controller is internally integrated with a double PID closed loop feedback algorithm, wherein the double PID closed loop feedback algorithm is used for controlling the accurate output of the hydraulic actuator by the inner loop, controlling the outer loop and the like; the inner ring controls the hydraulic actuator by adopting a feedforward self-adaptive PID, and after disturbance is generated and before the output voltage is not changed, the control is carried out according to the magnitude of the disturbance action so as to compensate the influence of the disturbance action on the output voltage and ensure that the output voltage cannot generate deviation due to the disturbance action or the change of a set value;
fuzzy control is adopted as self-adaptive PID control, an accurate quantity is detected through a sensor at first and is fed back to be compared with a specified quantity to obtain an accurate deviation, the accurate deviation is converted into a fuzzy quantity through fuzzification, a system converts the fuzzy quantity into a corresponding fuzzy set through fuzzy language, fuzzy rules are set, the fuzzy control quantity is solved and defuzzification is carried out on the fuzzy control quantity, and an optimal PID is generated according to different conditions to achieve the effect of accurate control.
The OpenSees numerical substructure module is used for simulating a building structure in an earthquake-resistant structure, and building the building structure with different degrees of freedom by selecting different flat-layer frames; or calling the existing instruction of OpenSees finite element software to realize the modeling of the numerical substructure, the numerical integration algorithm and the communication with the Matlab computing module.
Compared with the prior art, the hybrid test control system based on the hydraulic actuator has the following technical effects:
(1) the invention designs a hybrid test control system based on a hydraulic actuator, which innovatively combines the hydraulic actuator and an STM32 single-chip microcomputer controller as main equipment of a lower electro-hydraulic servo system;
(2) the invention designs a hybrid test control system based on a hydraulic actuator, which takes an electro-hydraulic servo system as a control core, the traditional STM32 single-chip microcomputer controller cannot meet the control requirement, and the development trend of developing an integrated, intelligent and digital STM32 single-chip microcomputer controller with high stability becomes the electro-hydraulic servo control system. The system adopts an STM32 single chip microcomputer controller to replace a traditional STM32 single chip microcomputer controller, the bottom layer algorithm of the traditional STM32 single chip microcomputer controller is packaged, is not easy to transplant and change, and products of different companies have different control methods and application ranges and are expensive; the STM32 single-chip microcomputer controller is a developed controller, is applicable to various control algorithms, can program a bottom-layer algorithm by self, and is low in price and high in universality. The hydraulic actuator can realize output nearly hundreds times of that of the traditional electrodynamic vibration exciter, can work under the working condition with larger intensity range, and is loaded on various dampers;
(3) the hybrid test control system based on the hydraulic actuator is designed, the actuator control system is independently developed according to the voltage-force loading characteristic of the actuator, the test loading adjustment can be carried out according to different test working condition requirements, and the hybrid test control system is high in adjustment precision, easy to modify and strong in transportability;
(4) the hybrid test control system based on the hydraulic actuator can perform real-time hybrid tests on test substructures of different structures and different materials, and can perform fatigue test on the test substructures of different structures and different materials to test the performance of the test substructures, so that the application range of the hybrid test control system is greatly improved. The hydraulic servo actuator is fixed on the adjustable support, and the position of the actuator can be adjusted by adjusting the support so as to be suitable for different test requirements. This device only has a hydraulic servo actuator as loading device, when carrying out different anti-seismic testing, only needs to change different test modules and can accomplish different experiments. The hybrid test system can be widely popularized and applied.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a block diagram of the present invention;
FIG. 3 is a technical roadmap for the present invention;
FIG. 4 is a diagram illustrating an overall structure of a servo controller according to the present invention;
FIG. 5 is an isometric feedback control schematic of the present invention;
FIG. 6 is a graph comparing the shift of the experimental substructure mixing test and theoretical results of the present invention;
FIG. 7 is a graph of the speed comparison of the experimental substructure mixing tests and theoretical results of the present invention;
FIG. 8 is a graph comparing the acceleration of the experimental substructure mixing tests and theoretical results of the present invention.
The system comprises an OpenSees-Matlab upper computer module, a data processing module and a data processing module, wherein the OpenSees-Matlab upper computer module; 2. a numerical substructure module; an STM32 single-chip microcomputer controller; 4. a hydraulic actuator loading device; 5. a test sub-structure module; 6. a hydraulic cylinder; 7. a magnetostrictive displacement sensor; 8. a pressure sensor.
Detailed Description
The following description will explain embodiments of the present invention in further detail with reference to the accompanying drawings.
As shown in FIG. 1, the invention designs a hybrid test control system based on a hydraulic actuator, which comprises an OpenSees-Matlab upper computer module, a numerical substructure module, an STM single-chip microcomputer controller module, a hydraulic actuator loading device, a magnetostrictive displacement sensor, a tension sensor, a pressure sensor and a test substructure.
As shown in fig. 2, a hybrid test control system based on a hydraulic actuator uses the hydraulic actuator as an actuator loading device (i.e. a power source of the whole system) to load an excitation signal of a test substructure; and the test substructure is used as a test load to realize force response and displacement response under the action of an excitation signal, and the force sensor and the displacement sensor are used for measurement.
The invention mainly adopts a Matlab-OpenSees, STM32 singlechip, and an actuating system to establish a hybrid test system for simulating seismic wave loading. Firstly, theoretical analysis is carried out, theoretical output formulas of a hydraulic pump, a hydraulic cylinder and a hydraulic valve (including an overflow valve, a throttle valve, a reversing valve and the like) are calculated, a mathematical model is established, and a simulation model of the hydraulic actuator is established by utilizing MATLAB/SIMULNK, wherein the simulation model comprises each internal hydraulic element and a hydraulic cylinder system. The numerical substructure design of the whole test system is completed by utilizing a Matlab-OpenSees programming language, force signals and displacement signals fed back by a lower computer are processed, a software interface communicated with the lower computer is created to transmit the initial excitation signals of the hybrid test, a USART interface carried by an STM32 single chip microcomputer and a software communication interface established by an upper computer Matlab are utilized, and the Matlab and OpenSees realize the communication of the upper computer and the lower computer through TCP/IP; a hydraulic actuating system is used as a power source of an actuator and the whole system, and an MLDT and a pressure sensor are adopted to measure the force response and the displacement response of a test load and feed back the force response and the displacement response to an upper computer; an STM32 single chip microcomputer is used as the core of a control system, programming is carried out to realize the acquisition and transmission of a double PID closed loop feedback algorithm and sensor data, and a numerical value substructure and a test substructure connection are established.
The STM32 single chip microcomputer controller develops a control system on the basis of an STM32 single chip microcomputer to serve as a bridge between a numerical substructure and a test substructure so as to control the vibration response of the building structure under the stimulation of seismic waves of an actuating system, and the STM32 single chip microcomputer controller converts digital signals transmitted by an upper computer into analog signals which can be received by a hydraulic actuator and loads the analog signals onto a test load.
The hydraulic actuator loading device receives a driving signal transmitted by the STM32 single chip microcomputer controller, and the STM32 single chip microcomputer controller controls the output of the actuator by controlling the opening of the hydraulic valve so as to load the actuator on the test substructure to test the anti-seismic performance of the test substructure; the data acquisition module is a magnetostrictive displacement sensor and a pressure sensor module which are arranged in the hydraulic actuator, and the sensor can acquire real-time displacement and stress conditions of the test substructure and convert analog signals into digital signals through the controller and transmit the digital signals to the upper computer for next calculation; the test substructure module is connected with the hydraulic actuator, receives the loading of the actuator, generates corresponding deformation, and generates displacement and force data.
As shown in fig. 3, the technical roadmap of the hybrid test control system based on the hydraulic actuator of the present invention is shown, the hybrid test system is composed of a hardware system and a software system, wherein the hardware system includes a test loading system, a control system and a test substructure, the test loading system can be divided into a hydraulic actuator, a power amplifier and a test loading counterforce device, the control system can be divided into a main controller module, a communication module, an actuator driving module and a data acquisition module, and the test substructure is a viscoelastic damper; the software system mainly comprises an upper computer OpenSees-Matlab software program and a lower computer STM32 software program, wherein the upper computer adopts OpenSees software to compile a mixed test program, the mixed test program comprises a numerical substructure model and a numerical integration algorithm, Matlab software is adopted to realize an upper computer serial port communication program and a lower computer adopts C language to program STM32, and the compiling of the data acquisition program, an actuator driving program and the upper computer communication program and the lower computer communication program is included.
The hybrid test control system based on the hydraulic actuator is developed by the system, and the AHA-10KN hydrostatic bearing servo actuator is used as a test loading device, namely a power source of the whole system, so that test loading of a test substructure is realized; the viscoelastic damper is used as a test substructure to realize dynamic response under test loading, namely force response and displacement response, and the tension and pressure sensor and the displacement sensor are adopted for measurement; an STM32 microcontroller is used as a control core to realize data communication of an upper computer and a lower computer, data acquisition of a sensor and drive control of a hydraulic actuator; the method comprises the steps of completing the establishment of a numerical value substructure model of the whole test system and the writing of a numerical value integral algorithm by using an OpenSees programming language, and realizing the establishment of a frame structure numerical value model; matlab is used for realizing data communication of an upper computer and a lower computer and processing the test substructure reaction force fed back by the lower computer; the serial communication of Matlab software and an STM32 microcontroller is used as a bridge, the relation between a numerical substructure and a test substructure is established, and the problem of cooperative work of numerical simulation test and physical test of the numerical substructure in the test is solved.
As shown in FIG. 4, the hardware design of the servo controller includes the design of the power circuit portion and the ARM portion hardware circuit of the servo controller. The power supply circuit part comprises a +24V circuit and a charging circuit, a +24V to +/-15V circuit, a +24V to +5V circuit, a +5V to +3.3V circuit, a controllable constant current source circuit and a valve core indicating circuit. The ARM circuit part comprises an SWD downloading circuit, an I/U conversion circuit, a U/I conversion circuit, a signal identification circuit, a storage circuit and a CAN communication circuit.
As shown in fig. 5, the hydraulic actuator based hybrid test control system equivalent force feedback control schematic diagram of the invention is described; the equivalent force control mode adopts a closed-loop control system, and the equivalent force fed back on the left side of the equation is smoothly approached to the equivalent external force on the right side of the equation through feedback control. In each integration interval Δ t, the equivalent force command FEQ,i+1And an equal effectiveness feedback value F'EQ,i+1Equivalent force difference E ofEQ,i+1By means of an equivalent force controller and a force conversion factor CFObtaining the force command of the next step of loading the vibration exciter
Near the end of each loading cycle, when the equivalent force feedback value F'EQ,i+1Equivalent force command F capable of infinitely approximating corresponding load cyclesEQ,i+1Of time, actual displacement of a'i+1Will approach to the target displacement a infinitelyi+1This will be the solution of formula (1). Wherein, CFThe force distribution coefficient is a force distribution coefficient which acts as a Jacobian matrix in the Newton iteration method, and the force distribution coefficient CFThe values of (a) are as follows:
wherein, K, KEThe initial stiffness matrices for the numerical substructure and the test substructure, respectively.
The STM32 single-chip microcomputer controller is used for enabling an equivalent force feedback value to accurately track an equivalent force command, the controller is divided into an inner ring controller and an outer ring equivalent force controller, the outer ring controller is used for equivalent force control, and the force distribution coefficient C is used for controlling the force distribution coefficientFCalculating the force loading command of the actuator, wherein the inner ring controller is used for controlling the force of the actuator, so that the actuator can accurately reach the force command, the outer ring controller selects an incremental PID (proportion integration differentiation) controller for equivalent force control, and the inner ring controller adoptsA feedforward plus adaptive PID controller is used.
The designed separated hybrid test system and the test method are applied to practice, and the stiffness matrix and the damping matrix of the numerical substructure are respectively KN、CNThe stiffness and damping of the test substructure are KE、CEThe amplitude of the loading force of the test substructure is 100N, the equivalent stiffness and the equivalent damping calculated when the loading frequency is 5Hz, the mass matrix of the single-layer frame structure is M, and the influence of the mass of the test substructure on the mixing test is not considered, wherein the specific parameter values are that M is 500kg, K is 492980N/M, C is 1570 N.s/M, the damping ratio ξ is 0.05, and K is 1570.S/ME＝200809N/m，CE2865N · s/m, and the natural oscillation period T of the whole structure is 0.2 s.
The earthquake waves input in the test are El centro waves, the acceleration peak value is 30gal, the earthquake action time is 20s, and the time step length is 0.02 s. The initial parameters of the adjusted self-adaptive PID controller adopt a proportionality coefficient of 0.001, an integral coefficient of 480 and a differential coefficient of 0; the parameters of the outer ring position type PID controller adopt a proportional coefficient of 0.3, an integral coefficient of 0.1 and a differential coefficient of 0. The rigidity of the test substructure in the force distribution coefficient calculation adopts the equivalent rigidity calculated when the amplitude of the loading force of the test substructure is 100N and the loading frequency is 5Hz, and the force distribution coefficient calculation result is 0.0324. The pair of the single-layer frame structure mixed test and the theoretical result of the additional viscoelastic damper is shown in FIGS. 6-8, and the calculation of the theoretical simulation result adopts an equivalent stiffness and equivalent damping method for the simulation of the viscoelastic damper.
From the results in fig. 6 to 8, it can be seen that the maximum value of the displacement of the mixing test of the single-layer frame structure with the additional viscoelastic damper under the action of the earthquake is 0.449mm, the minimum value is-0.380 mm, the maximum value of the displacement of the theoretical solution is 0.435mm, the minimum value is-0.337 mm, the maximum value of the absolute error of the displacement of the mixing test and the theoretical solution is 0.153mm, and the standard deviation of the displacement error is 0.033 mm; the maximum speed is 14.5mm/s, the minimum speed is-13.83 mm/s, the maximum theoretical solution speed is 13.95mm/s, the minimum speed is-13.28 mm/s, and the mixing test and the theory are carried outThe maximum value of the absolute error of the speed of the solution is 4.5mm/s, and the standard deviation of the speed error is 1.16 mm/s; the maximum acceleration value is 587.64mm/s2Minimum value of-498.53 mm/s2The maximum value of theoretical solution acceleration is 570.17mm/s2Minimum value of-526.75 mm/s2The maximum absolute error value of acceleration of the mixed test and theoretical solution is 198.85mm/s2The standard deviation of the acceleration error is 44.80mm/s2(ii) a From the above analysis, it can be seen that the difference between the mixing test solution and the theoretical solution of the single-layer frame structure of the additional viscoelastic damper under the action of the earthquake is large at the peak, and it can be seen from fig. 6 to 8 that the mixing test is smaller than the theoretical result. From fig. 6 to 8, it can be seen that the mixing test is basically consistent with the theoretical result, and the standard deviation of the error is small, which indicates that the overall deviation of the mixing test solution and the theoretical solution is small, and verifies the feasibility of the mixing test system designed herein.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (9)
1. A hybrid test control system based on a hydraulic actuator, comprising:
the test substructure module is arranged on the engineering structure to be detected;
the acquisition end of the data acquisition module is butted with the test substructure module and is used for acquiring the dynamic response data of the test substructure module in real time;
the numerical value substructure module is used for establishing a numerical value substructure model corresponding to the engineering structure to be detected by utilizing OpenSees, acquiring a response signal of the numerical value substructure model based on an excitation signal from the Matlab computing module, and sending the response signal to the Matlab computing module;
the Matlab computing module is used for generating an excitation signal according to the power response data from the STM32 single chip microcomputer controller and sending the excitation signal to the numerical value substructure module;
the Matlab communication module is used for transmitting the data processed by the Matlab calculation module to the numerical substructure module to perform numerical calculation on the house structure so as to realize the online mixed test of the house structure damping analysis and the earthquake simulation;
the STM32 single-chip microcomputer controller is used for obtaining a control signal loading command of the hydraulic actuator loading device according to the control signal command from the Matlab computing module and sending the control signal command to the hydraulic actuator loading device;
hydraulic actuator loading device for according to the actuator loading control signal order that comes from STM32 single chip microcomputer controller, carry out motion control to experimental substructure, include: an electro-hydraulic servo valve, a servo oil cylinder, an A/D conversion circuit, a D/A conversion circuit, wherein,
the STM32 single chip microcomputer controller acquires a voltage value or a current value of a given signal and a voltage feedback signal or a current feedback signal of a data acquisition module through an A/D conversion circuit, calculates a difference value between the given signal and the feedback signal, takes the difference value as an input quantity, obtains a digital output quantity through calculation and processing of the STM32 single chip microcomputer controller, and converts the digital output quantity into a voltage signal or a current signal through the D/A conversion circuit to serve as a control signal of the electro-hydraulic servo valve;
the electro-hydraulic servo valve converts an electric signal into hydraulic energy to drive a servo oil cylinder piston;
and the piston on the servo oil cylinder moves towards the direction of reducing deviation, and the electric signal is converted into mechanical energy.
2. The hydraulic actuator-based hybrid test control system of claim 1, wherein:
the numerical value substructure module is in real-time bidirectional communication butt joint with the Matlab computing module;
the Matlab computing module is in real-time bidirectional communication butt joint with an STM32 single-chip microcomputer controller;
the output end of the STM32 single-chip microcomputer controller is in butt joint with the hydraulic actuator loading device, and the output end of the hydraulic actuator loading device is in butt joint with the test substructure;
the Matlab communication module enables data to be transmitted between the numerical value substructure module and the STM32 single chip microcomputer controller in real time, and bidirectional communication is carried out;
the Matlab computing module generates an excitation signal according to the dynamic response data from the STM32 singlechip controller and sends the excitation signal to the numerical substructure module; the Matlab computing module obtains a corresponding control signal command according to the response signal from the numerical substructure module and sends the control signal command to the STM32 single chip microcomputer controller; wherein the excitation signal comprises a seismic excitation and a counter force of the test sub-structure.
3. The hydraulic actuator-based hybrid test control system of claim 1, wherein: the hydraulic actuator loading device is fixed on the adjustable support, and the position of the hydraulic actuator loading device is adjusted by adjusting the adjustable support so as to be suitable for different test requirements.
4. The hydraulic actuator-based hybrid test control system of claim 1, wherein: the data acquisition module comprises a magnetostrictive displacement sensor and a pressure sensor module.
5. The hydraulic actuator-based hybrid test control system of claim 1, wherein: the test sub-structure module is a certain nonlinear component in the structure, a component which is difficult to model, or a component which needs to detect performance.
6. The hydraulic actuator-based hybrid test control system of claim 1, wherein: STM32 singlechip controller selects STM32F767 series singlechip.
7. A test method using the hydraulic actuator-based hybrid test control system according to any one of claims 1 to 6, comprising the steps of:
s1, the numerical value substructure module calculates an initial signal according to the numerical model of different seismic waves and sends the initial signal to the Matlab calculation module;
s2, the STM32 singlechip controller converts the initial signal digital output quantity into a voltage signal or a current signal through a D/A conversion circuit to be used as a control signal of the electro-hydraulic servo valve;
s3, converting the control signal into hydraulic energy by the electro-hydraulic servo valve to drive the servo oil cylinder piston, making the servo oil cylinder piston move towards the direction of reducing deviation, and converting the electric signal into mechanical energy;
s4, loading mechanical energy to a test load by the hydraulic actuating head;
s5, connecting a test load with a hydraulic actuator, receiving the loading of the actuator, generating corresponding deformation, and generating displacement and force data;
s6, the data acquisition module acquires the real-time displacement and stress condition of the test load,
s7, the STM32 singlechip controller collects the voltage value or the current value of a given signal and the voltage feedback signal or the current feedback signal of a position sensor through an A/D conversion circuit, and calculates the difference value of the given signal and the feedback signal;
s8, taking the difference value as an input quantity, and correspondingly calculating and processing through an algorithm integrated in the STM32 single chip microcomputer controller to obtain a digital output quantity signal;
and S9, transmitting the digital output quantity signal obtained in the step S8 to an OpenSees numerical value substructure module through a communication module of the STM32 singlechip controller by the STM32 singlechip controller, and performing numerical calculation by the OpenSees numerical value substructure module to obtain a driving signal of the next step.
8. The testing method using the hydraulic actuator-based hybrid test control system according to claim 7, wherein a dual PID closed-loop feedback algorithm is integrated inside an STM32 single-chip microcomputer controller, and the dual PID closed-loop feedback algorithm is used for controlling the accurate output of the hydraulic actuator by the inner loop and controlling the equivalent effect of the outer loop; the inner ring controls the hydraulic actuator by adopting a feedforward self-adaptive PID, and after disturbance is generated and before the output voltage is not changed, the control is carried out according to the magnitude of the disturbance action so as to compensate the influence of the disturbance action on the output voltage and ensure that the output voltage cannot generate deviation due to the disturbance action or the change of a set value;
fuzzy control is adopted as self-adaptive PID control, an accurate quantity is detected through a sensor at first and is fed back to be compared with a specified quantity to obtain an accurate deviation, the accurate deviation is converted into a fuzzy quantity through fuzzification, a system converts the fuzzy quantity into a corresponding fuzzy set through fuzzy language, fuzzy rules are set, the fuzzy control quantity is solved and defuzzification is carried out on the fuzzy control quantity, and an optimal PID is generated according to different conditions to achieve the effect of accurate control.
9. The testing method using the hydraulic actuator-based hybrid test control system according to claim 7, wherein the openses numerical substructure module is used to simulate building structures in seismic structures, building structures with different degrees of freedom are built with different flat-bed frames; or calling the existing instruction of OpenSees finite element software to realize the modeling of the numerical substructure, the numerical integration algorithm and the communication with the Matlab computing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010227182.1A CN111366322A (en) | 2020-03-27 | 2020-03-27 | Hybrid test control system and test method based on hydraulic actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010227182.1A CN111366322A (en) | 2020-03-27 | 2020-03-27 | Hybrid test control system and test method based on hydraulic actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111366322A true CN111366322A (en) | 2020-07-03 |
Family
ID=71212098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010227182.1A Pending CN111366322A (en) | 2020-03-27 | 2020-03-27 | Hybrid test control system and test method based on hydraulic actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111366322A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111913474A (en) * | 2020-08-04 | 2020-11-10 | 西南大学 | Hydrostatic transmission device algorithm demonstration experiment bench and experiment method thereof |
| CN112834855A (en) * | 2021-01-18 | 2021-05-25 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Method and system for testing electric actuating system |
| CN113219858A (en) * | 2021-05-26 | 2021-08-06 | 北京航空航天大学 | Semi-physical simulation verification platform for electric hydrostatic actuator |
| CN113324718A (en) * | 2021-05-14 | 2021-08-31 | 东南大学 | Large-scale visual real-time hybrid test system and test method thereof |
| CN114217862A (en) * | 2021-12-15 | 2022-03-22 | 北京工业大学 | Real-time hybrid test method based on combination of Windows system and real-time hardware system |
| CN114459712A (en) * | 2022-01-11 | 2022-05-10 | 东南大学 | Seismic simulation vibration table experiment compensation method based on autoregressive model |
| CN114993529A (en) * | 2022-04-12 | 2022-09-02 | 中国第一汽车股份有限公司 | Four-upright actuator load testing system and testing method |
| CN115076164A (en) * | 2022-05-13 | 2022-09-20 | 浙江大学高端装备研究院 | Onboard hydraulic servo high-frequency earthquake simulation experiment test platform of centrifugal machine |
| CN116879027A (en) * | 2023-09-07 | 2023-10-13 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | U-shaped beam falling prevention structure test method |
| 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 |
-
2020
- 2020-03-27 CN CN202010227182.1A patent/CN111366322A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111913474A (en) * | 2020-08-04 | 2020-11-10 | 西南大学 | Hydrostatic transmission device algorithm demonstration experiment bench and experiment method thereof |
| CN111913474B (en) * | 2020-08-04 | 2024-06-11 | 西南大学 | Hydrostatic transmission device algorithm demonstration experiment bench and experiment method thereof |
| CN112834855A (en) * | 2021-01-18 | 2021-05-25 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Method and system for testing electric actuating system |
| CN112834855B (en) * | 2021-01-18 | 2023-10-27 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Method and system for testing electric actuation system |
| CN113324718A (en) * | 2021-05-14 | 2021-08-31 | 东南大学 | Large-scale visual real-time hybrid test system and test method thereof |
| CN113219858B (en) * | 2021-05-26 | 2023-03-31 | 北京航空航天大学 | Semi-physical simulation verification platform for electric hydrostatic actuator |
| CN113219858A (en) * | 2021-05-26 | 2021-08-06 | 北京航空航天大学 | Semi-physical simulation verification platform for electric hydrostatic actuator |
| CN114217862A (en) * | 2021-12-15 | 2022-03-22 | 北京工业大学 | Real-time hybrid test method based on combination of Windows system and real-time hardware system |
| CN114217862B (en) * | 2021-12-15 | 2023-11-10 | 北京工业大学 | Real-time hybrid test method based on combination of Windows system and real-time hardware system |
| CN114459712B (en) * | 2022-01-11 | 2023-12-29 | 东南大学 | Earthquake simulation vibrating table experimental compensation method based on autoregressive model |
| CN114459712A (en) * | 2022-01-11 | 2022-05-10 | 东南大学 | Seismic simulation vibration table experiment compensation method based on autoregressive model |
| CN114993529A (en) * | 2022-04-12 | 2022-09-02 | 中国第一汽车股份有限公司 | Four-upright actuator load testing system and testing method |
| CN115076164A (en) * | 2022-05-13 | 2022-09-20 | 浙江大学高端装备研究院 | Onboard hydraulic servo high-frequency earthquake simulation experiment test platform of centrifugal machine |
| 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 |
| CN116879027A (en) * | 2023-09-07 | 2023-10-13 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | U-shaped beam falling prevention structure test method |
| CN116879027B (en) * | 2023-09-07 | 2023-12-05 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | U-shaped beam falling prevention structure test method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111366322A (en) | Hybrid test control system and test method based on hydraulic actuator | |
| Soong et al. | Full-scale implementation of active control. I: Design and simulation | |
| Carrion et al. | Real-time hybrid simulation for structural control performance assessment | |
| Blakeborough et al. | The development of real–time substructure testing | |
| Kim et al. | Neuro-fuzzy model of hybrid semi-active base isolation system with FPS bearings and an MR damper | |
| Phillips et al. | Model-based framework for real-time dynamic structural performance evaluation | |
| CN111506948B (en) | Real-time hybrid test method realized based on actuator and vibration table | |
| CN103558079A (en) | Multi-degree-of-freedom loading method based on parallel mechanism driving force closed loop | |
| Pagano et al. | Non-linear modelling and optimal control of a hydraulically actuated seismic isolator test rig | |
| Kong et al. | Force control compensation method with variable load stiffness and damping of the hydraulic drive unit force control system | |
| CN109668704B (en) | Separation type hybrid test system and test method | |
| Del Carpio R et al. | Evaluation of integration methods for hybrid simulation of complex structural systems through collapse | |
| Zhu et al. | Research and improvement on active compliance control of hydraulic quadruped robot | |
| Chew et al. | Design of a passive self-regulating gravity compensator for variable payloads | |
| CN212844260U (en) | Hybrid test control system based on hydraulic actuator | |
| CN209820722U (en) | Separated mixing test system | |
| Tu et al. | An experimental study on semi-active seismic response control of a large-span building on top of ship lift towers | |
| Wen et al. | Distributed ATMD for buffeting control of cable-stayed bridges under construction | |
| Wagg et al. | Real-time testing with dynamic substructuring | |
| Phillips | Model-based feedforward-feedback control for real-time hybrid simulation of large-scale structures | |
| Shao et al. | Real-time dynamic hybrid testing using force-based substructuring | |
| Chunhua et al. | Recent progress on control techniques of shaking table and array systems in China: an overview | |
| Lin et al. | Real-time hybrid test validation of a MR damper controlled building with shake table tests | |
| Fermandois et al. | Development and implementation of a multi-axial real-time hybrid simulation framework | |
| Wang et al. | Impedance control of upper limb rehabilitation robot based on neural network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |