CN111780938A - Three-way vibration table of centrifugal machine - Google Patents
Three-way vibration table of centrifugal machine Download PDFInfo
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- CN111780938A CN111780938A CN202010846993.XA CN202010846993A CN111780938A CN 111780938 A CN111780938 A CN 111780938A CN 202010846993 A CN202010846993 A CN 202010846993A CN 111780938 A CN111780938 A CN 111780938A
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- 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
- G01M7/06—Multidirectional test stands
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- 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
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- 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
- G01M7/027—Specimen mounting arrangements, e.g. table head adapters
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Abstract
The invention discloses a three-way vibration table of a centrifugal machine, which comprises a control unit and an actuating unit, wherein the control unit is used for controlling the three-way vibration table; the actuating unit is arranged in a hanging basket unit of the centrifuge; the actuating unit comprises an X-direction actuator module for providing horizontal X-direction exciting force, a Y-direction actuator module for providing horizontal Y-direction exciting force and a Z-direction actuator module for providing vertical Z-direction exciting force; the action ends of the X-direction actuator module, the Y-direction actuator module and the Z-direction actuator module act on the test piece; and the signal output end of the control unit is respectively connected with the signal input end of the X-direction actuator module, the signal input end of the Y-direction actuator module and the signal input end of the Z-direction actuator module. The three-direction earthquake motion control device realizes the loading and control of the three-direction earthquake motion in the hypergravity field through the three-direction vibration table structure, meets the requirement of the three-direction earthquake motion basic scientific research, and has the characteristics of adjustable three-direction load combination, adjustable time sequence, high simulation precision, easy maintenance and the like.
Description
Technical Field
The invention belongs to the technical field of vibration test equipment, and particularly relates to a three-way vibration table of a centrifugal machine.
Background
In the United states, huge capital is spent in Treacuisland to observe seismic acceleration time-course curves at different depths in the process of seismic motion propagation from 104m deep bedrock to the earth surface in the field, and the seismic motion of the bedrock is found to have three-way property and has an amplification effect in the process of seismic motion propagation to the earth surface; the phases of the seismic waves in the three directions change along with time and space, and the phase difference between the seismic waves in different directions also changes along the propagation direction, so that the seismic waves in the three directions have non-uniformity. Ground seismic waves recorded by the wenchuan earthquake dengyang white horse station in 2008 also found significant three-dimensionality. The wave effect of the seismic motion propagated in the rock-soil body is very complex, such as seismic motion amplification effect, spatial inconsistency of phase time variation among various seismic motions and trampoline effect.
The non-coaxial effect that the plastic main strain increment direction of the rock-soil body is inconsistent with the main stress direction has important influence on catastrophe. The phase time-varying inconsistency among the three-dimensional seismic motion causes the main stress direction of the soil body to be changed continuously, so that the non-coaxial effect of the soil body is obviously intensified. Preliminary theoretical research shows that the catastrophe of the earthquake sink deformation of the rock-soil body under the action of single-direction, double-direction and three-direction earthquake motion has obvious difference. The influence of three-way earthquake motion characteristics and non-coaxial effect of soil bodies is not considered in the earthquake-proof design of the building structure, so that the earthquake-proof safety of the engineering is greatly reduced.
The international academic and engineering community generally holds that the most effective way to simulate earthquake motion is a vibration table, which is divided into a ground vibration table and a centrifuge vibration table. The centrifugal machine uses a long arm rotating at high speed to generate centrifugal acceleration n times of the gravity acceleration, a gravity field equivalent to a prototype is generated on a physical model with a 1/n scale, and the prototype time is shortened by n times, so that space-time compression is realized. For example, when the centrifuge generates a high gravity field of 150g, a model soil body with the thickness of 0.5m is equivalent to a field rock-soil body with the thickness of 75m on the field, and the actual earthquake which lasts for 150s is reproduced by high-frequency excitation for 1 s. Therefore, the centrifuge vibration table can truly simulate the transmission rule of earthquake motion in a large-scale space and the catastrophe effect of the rock-soil body, and is the only scientific research device which can reproduce the earthquake motion propagation and catastrophe formation and evolution of the large-scale rock-soil body on the model scale at present. Because centrifuge shaking table's unique advantage, many centrifuge shaking tables have been developed abroad, but present centrifuge shaking table is mostly the one-way shaking table of centrifuge, and the two-way shaking table of centrifuge only has several, does not have centrifuge three-dimensional shaking table yet, can't carry out the research work of three-dimensional earthquake vibrations.
Therefore, it is urgently needed to develop a three-way vibration table of a centrifuge to solve the above problems.
Disclosure of Invention
To solve the problems set forth in the background art described above. The invention provides a three-way vibration table of a centrifuge.
In order to achieve the purpose, the invention provides the following technical scheme:
a centrifuge three-way shaker table, comprising:
the control unit is used for realizing synchronous servo control of multiple actuators and three-way vibration waveform recurrence control;
an actuating unit for providing an exciting force and a conductive reaction force; the actuating unit is arranged in a hanging basket unit of the centrifuge; the actuating unit comprises an X-direction actuator module for providing horizontal X-direction exciting force, a Y-direction actuator module for providing horizontal Y-direction exciting force and a Z-direction actuator module for providing vertical Z-direction exciting force; the action ends of the X-direction actuator module, the Y-direction actuator module and the Z-direction actuator module act on the test piece; and the signal output end of the control unit is respectively connected with the signal input end of the X-direction actuator module, the signal input end of the Y-direction actuator module and the signal input end of the Z-direction actuator module.
Specifically, the control unit comprises a waveform preprocessing module for processing a normal gravity field three-way vibration waveform into a hypergravity field three-way loading waveform, a three-way waveform correction control module for controlling a three-way vibration waveform, a multi-axis servo control module for realizing synchronous closed-loop control and three-way motion coordination control of an actuating unit and a sensing module for testing feedback; the input end of a normal gravity field three-way vibration waveform to be tested is input through the input end of the waveform preprocessing module, the signal input end of the three-way waveform correction control module is respectively connected with the signal output end of the waveform preprocessing module and the signal output end of the sensing module, the signal input end of the multi-axis servo control module is respectively connected with the signal output end of the three-way waveform correction control module and the signal output end of the sensing module, and the signal output end of the multi-axis servo control module is connected with the signal input end of the X-direction actuator module, the signal input end of the Y-direction actuator module and the signal input end of the Z-direction actuator module.
Specifically, centrifuge three-way shaking table still includes the load cell that is used for the installation to support the test piece and makes it can follow three direction decoupling movement, and load cell includes:
the upper table top is used for mounting a test piece and transmitting horizontal bidirectional vibration load; the test piece is arranged on the top of the upper table top; the action ends of the X-direction actuator module and the Y-direction actuator module are connected with the upper table top through vertically arranged rubber bearings;
a lower deck for transferring vertical vibration loads; the lower mesa is installed in the lower part of last mesa down, and the upper end of lower mesa is connected with the bottom of last mesa through the rubber bearing that the tiling set up, and Z is connected with the bottom of lower mesa to the vertical installation in inside box of actuator module, Z to the effect end of actuator module.
Preferably, the centrifuge three-way vibration table further comprises a vertically arranged guide module, and the lower table surface is installed in the guide module and vertically moves up and down along the guide module.
Preferably, the number of the X-direction actuator modules and the number of the Y-direction actuator modules are two, the two X-direction actuator modules are respectively arranged at the X-direction two ends of the upper table board, and the two Y-direction actuator modules are respectively arranged at the Y-direction two ends of the upper table board.
Specifically, the basket unit includes:
two lifting lugs; the two lifting lugs are connected with the large arm of the centrifuge through a pin shaft;
an inner box;
an outer case; the two lifting lugs are fixedly connected with the external box body; the inner box body is arranged inside the outer box body; a plurality of vibration isolation modules for reducing the influence of three-dimensional vibration on the big arm of the centrifuge are arranged between the inner box body and the outer box body; the X-direction actuator module, the Y-direction actuator module and the Z-direction actuator module are all fixed on the internal box body, and piston rods of the X-direction actuator module and the Y-direction actuator module penetrate through holes in the internal box body to be connected with the upper table top; the lower table top is arranged in the internal box body, and a piston rod of the Z-direction actuator module penetrates through a through hole in the internal box body and then is connected with the lower table top; the guide module is vertically arranged on the inner side wall of the inner box body, and the guide module is matched with the lower table top and used for vertical sliding guide of the lower table top.
Preferably, the three-way vibration table of the centrifuge further comprises a balancing unit for balancing the vertical Z-direction hypergravity effect, wherein the balancing unit comprises a balancing hydraulic cylinder for providing vertical Z-direction balancing force, a balancing servo valve assembly and a balancing energy accumulator assembly; the hydraulic cylinder for balancing is arranged at the bottom of the internal box body, and a piston rod of the hydraulic cylinder for balancing is connected with the lower table top; the balance servo valve assembly is arranged on the balance hydraulic cylinder, and the balance energy accumulator assembly is arranged in the external box body; the balancing hydraulic cylinder is connected with the balancing energy accumulator assembly through a pipeline, the signal output end of the control unit is connected with the signal input end of the balancing servo valve assembly, and the balancing servo valve assembly is connected with the balancing hydraulic cylinder and the balancing energy accumulator assembly.
Specifically, the oil source unit includes:
the ground hydraulic pump station is used for providing high-pressure hydraulic oil;
the energy storage distribution module is used for instantaneous large-flow oil supplement and oil supply control of a plurality of actuators in the vibration excitation process of the centrifuge vibrating table;
the rotary joint is used for transmitting high-pressure hydraulic oil from the ground to the large arm of the centrifuge; the ground hydraulic pump station is connected with the rotary joint through a pipeline, and the rotary joint is connected with the energy storage distribution module through a pipeline; the energy storage distribution module is respectively connected with the X-direction actuator module, the Y-direction actuator module and the Z-direction actuator module.
Compared with the prior art, the invention has the beneficial effects that:
the three-direction earthquake motion loading and control device has the advantages that the three-direction earthquake motion loading and control in the high gravity field is realized through the three-direction vibration table structure, the requirement of three-direction earthquake motion basic scientific research is met, and the three-direction earthquake motion loading and control device has the advantages of being adjustable in three-direction load combination, adjustable in time sequence, high in simulation precision, easy to maintain and the like.
Drawings
FIG. 1 is a schematic structural diagram of a mounting position of a basket unit in the present application;
FIG. 2 is a schematic perspective view of a basket unit in the present application;
FIG. 3 is a cross-sectional view of a basket unit in the present application;
FIG. 4 is a schematic view of the mounting structure of the X-direction actuator module and the Y-direction actuator module in the present application;
FIG. 5 is a schematic diagram illustrating the connection between the control unit and the actuating unit;
FIG. 6 is a block diagram of a high speed closed loop control in the present application;
FIG. 7 is a block diagram of the low speed closed loop control of the present application;
fig. 8 is a schematic structural view of a rubber bearing in the present application.
In the figure: 1. the vibration isolation device comprises a control unit, 11, a waveform preprocessing module, 12, a three-way waveform correction control module, 13, a multi-shaft servo control module, 14, a sensing module, 2, a bearing unit, 21, an upper table top, 211, a T-shaped groove, 22, a lower table top, 23, a guide module, 24, a rubber bearing, 241, an installation base plate, 242, a damping rubber layer, 243, an alloy plate layer, 3, an actuating unit, 31, an X-direction actuator module, 32, a Y-direction actuator module, 33, a Z-direction actuator module, 41, a balancing hydraulic cylinder, 42, a balancing servo valve assembly, 43, a balancing energy accumulator assembly, 51, a ground hydraulic pump station, 52, a rotary joint, 53, an energy storage distribution module, 6, a hanging basket unit, 61, a lifting lug, 62, an inner box, 63, an outer box, 631, a hanging basket base plate, 632, a base plate pin and 64.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides the following technical scheme:
as shown in fig. 2-5, a centrifuge three-way vibratory table comprises:
the control unit 1 is used for realizing synchronous servo control of multiple actuators and three-way vibration waveform recurrence control;
an actuating unit 3 for providing an exciting force and a conductive reaction force; the actuating unit 3 is arranged in a hanging basket unit 6 of the centrifuge; the actuating unit 3 comprises an X-direction actuator module 31 for providing horizontal X-direction exciting force, a Y-direction actuator module 32 for providing horizontal Y-direction exciting force, and a Z-direction actuator module 33 for providing vertical Z-direction exciting force; the action ends of the X-direction actuator module 31, the Y-direction actuator module 32 and the Z-direction actuator module 33 act on the test piece; the signal output end of the control unit 1 is connected with the signal input end of the X-direction actuator module 31, the signal input end of the Y-direction actuator module 32 and the signal input end of the Z-direction actuator module 33 respectively.
As shown in fig. 5, the control unit 1 includes a waveform preprocessing module 11 for processing a normal gravity field three-way vibration waveform into a supergravity field three-way loading waveform, a three-way waveform correction control module 12 for controlling a three-way vibration waveform, a multi-axis servo control module 13 for realizing synchronous closed-loop control and three-way motion coordination control of an actuating unit, and a sensing module 14 for testing feedback; the normal gravity field three-way vibration waveform to be tested is input through the input end of the waveform preprocessing module 11, the signal input end of the three-way waveform correction control module 12 is respectively connected with the signal output end of the waveform preprocessing module 11 and the signal output end of the sensing module 14, the signal input end of the multi-axis servo control module 13 is respectively connected with the signal output end of the three-way waveform correction control module 12 and the signal output end of the sensing module 14, and the signal output end of the multi-axis servo control module 13 is connected with the signal input end of the X-direction actuator module 31, the signal input end of the Y-direction actuator module 32 and the signal input end of the Z-direction actuator module 33.
In the present embodiment, all of the X-direction actuator module 31, the Y-direction actuator module 32, and the Z-direction actuator module 33 are composed of hydraulic cylinders and corresponding servo valves.
As shown in fig. 3, the three-way vibration table of the centrifuge further includes a carrying unit 2 for mounting and supporting the test piece and enabling the test piece to perform decoupling movement in three directions, and the carrying unit 2 includes:
an upper table 21 for mounting a test piece and transmitting horizontal bidirectional vibration load; the test piece is arranged on the top of the upper table-board 21; the action ends of the X-direction actuator module 31 and the Y-direction actuator module 32 are connected with the upper table top 21 through vertically arranged rubber bearings 24;
a lower deck 22 for transmitting vertical vibration loads; the lower table top 22 is arranged at the lower part of the upper table top 21, the upper end of the lower table top 22 is connected with the bottom of the upper table top 21 through a rubber bearing 24 which is horizontally laid, the Z-direction actuator module 33 is vertically arranged at the bottom of the internal box body 62, and the acting end of the Z-direction actuator module 33 is connected with the bottom of the lower table top 22.
In some embodiments the lower deck 22 is formed as a box-type structure with an opening at the lower end.
As shown in fig. 3, the centrifuge three-way shaking table further comprises a vertically arranged guide module 23, and the lower table 22 is installed in the guide module 23 and vertically moves up and down along the guide module.
As shown in fig. 4, there are two X-direction actuator modules 31 and two Y-direction actuator modules 32, the two X-direction actuator modules 31 are respectively disposed at the two ends of the upper table 21 in the X direction, and the two Y-direction actuator modules 31 are respectively disposed at the two ends of the upper table 21 in the Y direction.
In this embodiment, two X-direction actuator modules 31 are respectively mounted on two sides of the upper table top in the X direction along a straight line in the same horizontal plane, two Y-direction actuator modules 32 are respectively mounted on two sides of the upper table top in the Y direction along a straight line in the same horizontal plane, and the two X-direction actuator modules 31 jointly realize X-direction excitation in a push-pull series connection manner; the two Y-direction actuator modules 32 jointly realize Y-direction excitation in a push-pull series connection mode; the Y-direction actuator module 32 is composed of two sets of hydraulic cylinders and corresponding servo valves.
As shown in fig. 4, in the present embodiment, T-shaped grooves 211 are formed on four side surfaces of the upper table 21, and the rubber bearings 24 are disposed in the T-shaped grooves 211; the rubber bearings 24 in the T-shaped grooves 211 in the X direction of the upper table 21 are arranged along the Y direction, so that when the Y-direction actuator module 32 works, the upper table 21 generates vibration along the Y direction; the rubber bearings 24 in the T-shaped grooves 211 in the Y direction of the upper table 21 are arranged along the X direction, so that when the X-direction actuator module 32 works, the upper table 21 vibrates along the X direction; and in this embodiment, two T-shaped grooves 211 are preferably formed on each side of the upper table 21.
As shown in fig. 2 and 3, the basket unit 6 includes:
two lifting lugs 61; the two lifting lugs 61 are connected with the large arm of the centrifuge through pin shafts;
an inner case 62;
an outer case 63; the two lifting lugs 61 are fixedly connected with an external box body 63; the inner case 62 is installed inside the outer case 63; a plurality of vibration isolation modules 64 for reducing the influence of three-way vibration on the big arm of the centrifuge are arranged between the inner box body 62 and the outer box body 63; the X-direction actuator module 31, the Y-direction actuator module 32 and the Z-direction actuator module 33 are all fixed on the inner box body 62, and piston rods of the X-direction actuator module 31 and the Y-direction actuator module 32 penetrate through holes in the inner box body 62 to be connected with the upper table top 21; the lower table 22 is arranged in the inner box 62, and a piston rod of the Z-direction actuator module 33 passes through a through hole on the inner box 62 and then is connected with the lower table 22; the guide module 23 is vertically installed on the inner side wall of the inner box 62, and the guide module 23 is installed in cooperation with the lower table 22 and used for vertical sliding guide of the lower table 22.
In some embodiments, as shown in FIG. 2, the outer box 63 is shown to include a basket floor 631 and floor pins 632, the basket floor 631 being disposed at the bottom of the outer box 63, the floor pins 632 serving to connect the basket floor 631 to the body of the outer box 63.
In some embodiments, the vibration isolation module 64 is a polyurethane buffer block, and the vibration isolation module 64 is provided in a plurality of numbers, one part is arranged between the outer side wall of the inner box 62 and the inner side wall of the outer box 63, and the other part is arranged between the bottom of the inner box 62 and the bottom of the inner side of the outer box 63.
As shown in fig. 3, the three-way vibration table of the centrifuge further comprises a balancing unit for balancing the vertical Z-direction hypergravity effect, wherein the balancing unit comprises a balancing hydraulic cylinder 41 for providing vertical Z-direction balancing force, a balancing servo valve assembly 42 and a balancing energy accumulator assembly 43; the balance hydraulic cylinder 41 is installed at the bottom of the internal box 62, and a piston rod of the balance hydraulic cylinder 41 is connected with the lower table surface 22; the balance servo valve assembly 42 is mounted on the balance hydraulic cylinder 41, and the balance accumulator assembly 43 is mounted in the outer case 63; the balancing hydraulic cylinder 41 is connected to the balancing accumulator unit 43 through a pipe, the signal output terminal of the control unit 1 is connected to the signal input terminal of the balancing servovalve assembly 42, and the balancing servovalve assembly 42 is connected to the balancing hydraulic cylinder 41 and the balancing accumulator unit 43.
In the working process of this embodiment, during the test, when the centrifuge runs to the set acceleration value, the control unit 1 outputs a control signal to the balancing servo valve assembly 42, the balancing servo valve assembly 42 controls the balancing hydraulic cylinder 41 to reach the middle position working zero position, and meanwhile, oil is continuously supplied to the balancing hydraulic cylinder 41 through the balancing energy accumulator assembly 43 until the pressure of the balancing hydraulic cylinder 41 reaches the set pressure value, the balancing hydraulic cylinder is closed, the excitation is started, and the total amount of hydraulic oil in the balancing hydraulic cylinder 41 is controlled to be kept unchanged during the excitation process.
As shown in fig. 1 and 3, the oil source unit includes:
a ground hydraulic pump station 51 for supplying high-pressure hydraulic oil;
the energy storage distribution module 53 is used for instantaneous large-flow oil supplement and oil supply control of a plurality of actuators in the vibration excitation process of the centrifuge vibrating table;
a swivel joint 52 for transferring high pressure hydraulic oil from the surface to the centrifuge boom; the ground hydraulic pump station 51 is connected with the rotary joint 52 through a pipeline, and the rotary joint 52 is connected with the energy storage distribution module 53 through a pipeline; the energy storage distribution module 53 is connected to the X-direction actuator module 31, the Y-direction actuator module 32, and the Z-direction actuator module 33, respectively.
As shown in fig. 8, showing a specific structure of the rubber bearing 24, the rubber bearing 24 includes a mounting base plate 241, a damping rubber layer 242, and an alloy plate layer 243, the multiple damping rubber layers 242 and the multiple alloy plate layers 243 are distributed at intervals, and two mounting base plates 241 are disposed on two sides of the combination of the damping rubber layer 242 and the alloy plate layer 243; the rubber bearing 24 is prior art and will not be described in great detail herein.
In the present application, it is preferable that the total mass of the X-direction actuator module 31, the Y-direction actuator module 32, the Z-direction actuator module 33, the balancing hydraulic cylinder 41, the balancing energy storage assembly 43, the energy storage distribution module 53, and the basket unit 6 should be more than 5 times of the total mass of the upper table 21, the lower table 22, the hydraulic cylinder piston rod of the X-direction actuator module 31, the hydraulic cylinder piston rod of the Y-direction actuator module 32, the hydraulic cylinder piston rod of the Z-direction actuator module 33, and the maximum test piece;
in this embodiment, the three-way waveform correction control module 12 is used to complete fast correction of the high-frequency seismic compression wave, and after 1-3 times of correction, higher control accuracy can be achieved. The multi-axis servo control module 13 is used for completing synchronous coordinated motion control among the multi-actuators in the three-axis direction, and meanwhile, realizing support balance control of the table top against centrifugal force so as to ensure stable broadband excitation of the three-way vibration table in a centrifugal field environment. The sensing module 14 is used for monitoring displacement, acceleration, differential pressure and pressure signals, and providing the signals as control signal feedback quantities to the three-way waveform correction control module 12 and the multi-axis servo control module 13 for closed-loop control.
The embodiment also relates to a triaxial multi-actuator synchronous coordination motion control method, which is a double-loop control method under high and low speed closed loops and can effectively solve the problems of motion freedom decoupling, actuator broadband excitation control, centrifugal force support balance control and the like. The high-speed closed-loop control method is characterized in that three-axis broadband excitation of a three-way vibration table of the centrifuge can be realized by introducing a freedom decoupling method, an actuator dynamic pressure difference and displacement mixed control method and a freedom feedback control method, and crosstalk among all the freedom degrees is effectively weakened; secondly, the low-speed closed-loop control method is that a pressure signal of the balancing hydraulic cylinder 41 needs to be introduced into the balancing hydraulic cylinder 41 along the arm direction of the centrifugal machine to perform force feedback closed-loop control, meanwhile, according to an actuator displacement mean value compensation method, support balance control for overcoming centrifugal force is realized, and the vibration displacement mean value of the balancing hydraulic cylinder 41 is effectively ensured to be at a working zero position in the dynamic excitation process.
And (3) double-loop closed-loop control under high and low speed closed-loop conditions:
aiming at a three-way vibration table under a centrifugal field, in order to realize the broadband excitation of the actuator in the centrifugal force direction, an effective control mode must be adopted, so that the electro-hydraulic actuator must overcome the centrifugal force on one hand and can stabilize the broadband excitation on the other hand. A double-loop closed-loop control method under high and low speed closed loops is provided, and the problems of freedom decoupling control, actuator broadband control and centrifugal force support control are effectively solved.
As shown in fig. 6, the high-speed closed-loop control method is to introduce a degree of freedom decoupling, a differential pressure and displacement hybrid control and a degree of freedom feedback control method, and take the system control closed-loop period to be within 0.2ms, so as to effectively realize the triaxial broadband excitation of the three-way vibration table and weaken the crosstalk among the degrees of freedom.
As shown in fig. 7, the low-speed closed-loop control method is to adopt the displacement average value control of the servo valve and the pressure control of the support valve at the same time, and take the closed-loop period of the system control to be 0.5.
Here, the pressure signal of the balancing hydraulic cylinder 41 is taken in, the pressure control of the balancing servovalve assembly 42 is performed, the controlled balancing hydraulic cylinder 41 provides a static balancing force to offset the centrifugal force, and the pressure signal is calculated as follows:
here, the first and second liquid crystal display panels are,
for balancing by fluid pressureSupporting pressure of cylinder (41), Fi(i ═ 1,2,3,4) is the support pressure of the hydraulic cylinder 41 for balancing.
The displacement average value control of the servo valve and the pressure control of the support valve are adopted, and the closed loop period of the system control is 1 ms. Therefore, the actuator can realize low-frequency overcoming centrifugal force control and high-frequency excitation control.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A centrifuge three-way shaker table, comprising:
the control unit (1) is used for realizing synchronous servo control of multiple actuators and three-way vibration waveform recurrence control;
an actuating unit (3) for providing an excitation force and a conductive reaction force; the actuating unit (3) is arranged in a hanging basket unit (6) of the centrifuge; the actuating unit (3) comprises an X-direction actuator module (31) for providing horizontal X-direction exciting force, a Y-direction actuator module (32) for providing horizontal Y-direction exciting force, and a Z-direction actuator module (33) for providing vertical Z-direction exciting force; the action ends of the X-direction actuator module (31), the Y-direction actuator module (32) and the Z-direction actuator module (33) act on the test piece; and the signal output end of the control unit (1) is respectively connected with the signal input end of the X-direction actuator module (31), the signal input end of the Y-direction actuator module (32) and the signal input end of the Z-direction actuator module (33).
2. The centrifuge three-way vibration table according to claim 1, wherein the control unit (1) comprises a waveform preprocessing module (11) for processing a normal gravity field three-way vibration waveform into a hyper gravity field three-way loading waveform, a three-way waveform correction control module (12) for controlling a three-way vibration waveform, a multi-axis servo control module (13) for realizing synchronous closed-loop control and three-way motion coordination control of an actuating unit, and a sensing module (14) for testing feedback; the normal gravity field three-way vibration waveform to be tested is input through the input end of the waveform preprocessing module (11), the signal input end of the three-way waveform correction control module (12) is respectively connected with the signal output end of the waveform preprocessing module (11) and the signal output end of the sensing module (14), the signal input end of the multi-axis servo control module (13) is respectively connected with the signal output end of the three-way waveform correction control module (12) and the signal output end of the sensing module (14), the signal output end of the multi-axis servo control module (13) is connected with the signal input end of the X-direction actuator module (31), the signal input end of the Y-direction actuator module (32) and the signal input end of the Z-direction actuator module (33).
3. A three-way vibrating table for centrifuges according to claim 2, characterized in that it further comprises a carrying unit (2) for mounting and supporting the test piece and enabling it to move in three directions in a decoupled manner, the carrying unit (2) comprising:
an upper table (21) for mounting the test piece and transmitting horizontal bidirectional vibration load; the test piece is arranged on the top of the upper table top (21); the action ends of the X-direction actuator module (31) and the Y-direction actuator module (32) are connected with the upper table top (21) through vertically arranged rubber bearings (24);
a lower deck (22) for transferring vertical vibratory loads; the lower table top (22) is arranged at the lower part of the upper table top (21), the upper end of the lower table top (22) is connected with the bottom of the upper table top (21) through a rubber bearing (24) which is horizontally laid, the Z-direction actuator module (33) is vertically arranged at the bottom of the internal box body (62), and the action end of the Z-direction actuator module (33) is connected with the bottom of the lower table top (22).
4. A three-way centrifuge table according to claim 3 wherein the three-way centrifuge table further comprises a vertically disposed guide module (23), the lower table (22) being mounted within the guide module (23) and vertically movable up and down along the guide module.
5. A three-way vibrating table of a centrifugal machine according to any one of claims 1 to 4, characterized in that the number of the X-direction actuator modules (31) and the number of the Y-direction actuator modules (32) are two, the two X-direction actuator modules (31) are respectively arranged at the X-direction ends of the upper table top (21), and the two Y-direction actuator modules (31) are respectively arranged at the Y-direction ends of the upper table top (21).
6. A centrifuge three-way vibrating table according to claim 5, characterized in that the basket unit (6) comprises:
two lifting lugs (61); the two lifting lugs (61) are connected with the large arm of the centrifuge through pin shafts;
an inner case (62);
an outer case (63); the two lifting lugs (61) are fixedly connected with an external box body (63); the inner box body (62) is arranged inside the outer box body (63); a plurality of vibration isolation modules (64) for reducing the influence of three-way vibration on the large arm of the centrifuge are arranged between the inner box body (62) and the outer box body (63); the X-direction actuator module (31), the Y-direction actuator module (32) and the Z-direction actuator module (33) are all fixed on the inner box body (62), and piston rods of the X-direction actuator module (31) and the Y-direction actuator module (32) penetrate through holes in the inner box body (62) to be connected with the upper table top (21); the lower table top (22) is arranged in the inner box body (62), and a piston rod of the Z-direction actuator module (33) penetrates through a through hole in the inner box body (62) and then is connected with the lower table top (22); the guide module (23) is vertically arranged on the inner side wall of the inner box body (62), and the guide module (23) is matched with the lower table top (22) and is used for vertical sliding guide of the lower table top (22).
7. A three-way vibrating table for centrifuges according to claim 6, characterized in that it further comprises a balancing unit for balancing the vertical Z-direction hypergravity effect, the balancing unit comprising a balancing hydraulic cylinder (41) for providing vertical Z-direction balancing force, a balancing servovalve assembly (42), a balancing accumulator assembly (43); the balance hydraulic cylinder (41) is arranged at the bottom of the internal box body (62), and a piston rod of the balance hydraulic cylinder (41) is connected with the lower table surface (22); a balance servo valve assembly (42) is arranged on the balance hydraulic cylinder (41), and a balance energy accumulator assembly (43) is arranged in an external box body (63); the balancing hydraulic cylinder (41) is connected with the balancing energy accumulator assembly (43) through a pipeline, the signal output end of the control unit (1) is connected with the signal input end of the balancing servo valve assembly (42), and the balancing servo valve assembly (42) is connected with the balancing hydraulic cylinder (41) and the balancing energy accumulator assembly (43).
8. A centrifuge three-way vibratory table of claim 7 further comprising an oil source unit comprising:
a ground hydraulic pump station (51) for providing high-pressure hydraulic oil;
the energy storage distribution module (53) is used for instantaneous large-flow oil supplement and oil supply control of a plurality of actuators in the vibration excitation process of the centrifuge vibrating table;
a swivel joint (52) for transferring high pressure hydraulic oil from the surface to the centrifuge boom; the ground hydraulic pump station (51) is connected with the rotary joint (52) through a pipeline, and the rotary joint (52) is connected with the energy storage distribution module (53) through a pipeline; the energy storage distribution module (53) is respectively connected with the X-direction actuator module (31), the Y-direction actuator module (32) and the Z-direction actuator module (33).
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