CN112857738A - Servo device and method matched with swing table - Google Patents

Abstract

A servo device and a method matched with a swing table belong to the technical field of motion simulation tests and test equipment. When the power source is hydraulic oil, the driving assembly is a servo oil cylinder, the driving principle of the servo oil cylinder is that hydraulic oil is conveyed into the servo oil cylinder from an oil source by utilizing an oil source electrical control system and a hydraulic device, the hydraulic oil is the power source of the servo oil cylinder, and the motion control system is matched with the oil source electrical control system to realize motion control, safety protection and real-time monitoring of the swing platform; when the power source is electricity, the driving assembly is a servo electric cylinder, the driving principle of the servo electric cylinder is that the rotary motion of a motor is converted into the linear motion of the servo electric cylinder by utilizing a motion pair of a ball screw to realize the telescopic motion of the servo electric cylinder, and the control system realizes the telescopic motion control of the servo electric cylinder so that the swing platform generates single-degree-of-freedom or two-degree-of-freedom compound motion with different frequencies and different amplitudes.

Description

Servo device and method matched with swing table

Technical Field

The invention relates to a servo device and a servo method matched with a swing platform, which are specially used for a large LNG/FLNG (Liquefied Natural Gas/Floating Liquefied Natural Gas) coiled tube type heat exchanger swing simulation test, and belong to the technical fields of motion simulation tests, test equipment and the like.

Background

The LNG wound tube type heat exchanger is a preferred main low-temperature heat exchanger of a natural gas liquefaction device, breaks the monopoly of foreign companies on the technology, is a qualified domestic wound tube type heat exchanger matched with the Chinese sea oil autonomous natural gas liquefaction process technology, and is an application of an LNG wound tube type heat exchanger prototype on the actual LNG liquefaction factory simulation sea, and a swing platform and a matched servo system are designed to perform a shaking test of the LNG wound tube type heat exchanger and verify the overall design and manufacturing technology, safety and the like of the LNG wound tube type heat exchanger. And on the other hand, the simulation design of the LNG wound tube type heat exchanger can be corrected. And the winding pipe type heat exchanger prototype shaking simulation device is an LNG (liquefied natural gas) shaking table and a matched servo system.

In order to realize the application of the LNG wound tube type heat exchanger (the LNG wound tube type heat exchanger and a frame thereof have the height of 38 meters, the cross-sectional area of 4 meters multiplied by 4 meters and the total weight of 160 tons) on the sea, the swing platform and a matched servo system need to carry out a land verification test on the LNG wound tube type heat exchanger, and a corresponding simulation device for a shaking test is designed. The LNG wound tube type heat exchanger and the frame thereof have large integral volume, high gravity center and large self rotational inertia. Throughout China, the traditional simulation platform has six-degree-of-freedom, four-degree-of-freedom, three-degree-of-freedom and two-degree-of-freedom motion platforms. The degrees of freedom have different applications, and through the optimization of the shaking scheme of the LNG coiled tube type heat exchanger, two degrees of freedom are selected as the basis of the scheme of the shaking table and the matched servo system, so that the LNG coiled tube type heat exchanger can safely and reliably run stably for a long time, and the vivid effect of analog simulation is achieved.

Disclosure of Invention

In order to make up for the defects of the prior art, the invention provides a servo device and a method matched with a swing table.

A servo device and a servo method matched with a swing platform are applied to industrial application research of large LNG/FLNG (liquefied natural gas/flash natural gas) coiled tube heat exchangers, an LNG coiled tube heat exchanger is subjected to a shaking test under various working conditions such as simulation of the LNG coiled tube heat exchanger on the sea in a liquefaction factory, the overall design and manufacturing technology and the safety of the LNG coiled tube heat exchanger are verified, and the device and the method belong to the technical field of motion simulation tests and test equipment.

A servo device and a method matched with a swing platform are provided, and the power driving and control mode of the swing device is researched on the basis of 201921705362.5 the prior art of the swing device of a coiled heat exchanger. The power source can adopt hydraulic oil or electricity, and the driving components can be divided into servo oil cylinder driving and servo electric cylinder driving according to different power sources; when the power source is hydraulic oil, the driving assembly is driven by a servo oil cylinder, the servo oil cylinder is driven according to the principle that hydraulic oil is conveyed into the servo oil cylinder from an oil source by utilizing an oil source electrical control system and a hydraulic device, the hydraulic oil is the power source of the servo oil cylinder, and the motion control system and the oil source electrical control system are matched to realize motion control, safety protection and real-time monitoring of the swing table. When the power source is electricity, the driving assembly is a servo electric cylinder, the driving principle of the servo electric cylinder is that the rotary motion of a motor is converted into the linear motion of the servo electric cylinder by utilizing a motion pair of a ball screw to realize the telescopic motion of the servo electric cylinder, and the telescopic motion of the electric cylinder realizes the motion control, safety protection and the like of the swing platform when the telescopic motion of the electric cylinder operates according to the set mode of a control system. The shaking test of the LNG wound tube type heat exchanger is realized through any one of the modes.

A servo method matched with a swing table comprises the following steps: hydraulic oil or electricity is used as a direct power source; when the power source is hydraulic oil, the driving assembly is a servo oil cylinder, the driving principle of the servo oil cylinder is that hydraulic oil is conveyed into the servo oil cylinder from an oil source by utilizing an oil source electrical control system and a hydraulic device, the hydraulic oil is the power source of the servo oil cylinder, and the motion control system is matched with the oil source electrical control system to realize motion control, safety protection and real-time monitoring of the swing platform; when the power source is electricity, the driving assembly is a servo electric cylinder, the driving principle of the servo electric cylinder is that the rotary motion of a motor is converted into the linear motion of the servo electric cylinder by utilizing a kinematic pair of a ball screw to realize the telescopic motion of the servo electric cylinder, and the telescopic motion of the electric cylinder operates according to the set mode of a control system to realize the motion control and the safety protection of the swing platform; the servo oil cylinder loop is a servo control loop consisting of D/A conversion software, a D/A conversion plate, a power amplifier, a servo oil cylinder, a displacement sensor, A/D conversion software and an A/D conversion plate; when hydraulic oil is conveyed to the servo valve, the servo valve and a servo oil cylinder displacement sensor form a closed-loop control system under the control of the motion controller, the size or the direction of an opening of a servo valve core is adjusted, and the servo oil cylinder automatically accelerates, decelerates and reverses motion according to a program; the single-degree-of-freedom motion or the two-degree-of-freedom compound motion of the swing platform can be realized; the servo electric cylinder loop consists of a motion controller, an electric cylinder, an alternating current servo motor, a servo driver, a rotary encoder, a Hall element, DO and DI; under the control of the motion controller, the control system realizes the control of the telescopic motion of the servo electric cylinder, so that the swing platform generates single-degree-of-freedom or two-degree-of-freedom compound motion with different frequencies and different amplitudes.

When the driving component is a servo oil cylinder, the driving component comprises a rolling driving cylinder, a pitching driving cylinder, a rolling auxiliary cylinder and a pitching auxiliary cylinder which are respectively and uniformly distributed around the swing platform; in consideration of control precision and control synchronism, a two-cylinder driving and two-cylinder follow-up mode is adopted when single-degree-of-freedom motion and two-degree-of-freedom compound motion are realized, namely two active cylinders are used as active driving mechanisms, and two auxiliary cylinders are used as auxiliary driving mechanisms; the auxiliary cylinder has damping and locking functions to ensure the rigidity and safety of the whole movement, and is not used as a driving mechanism.

When the driving component is a servo electric cylinder, the driving component comprises a rolling cylinder and a pitching cylinder; the servo electric cylinder is driven by a multi-cylinder parallel connection mode, adopts a double-cylinder driving mode, and is driven by a pitching driving cylinder and a rolling driving cylinder without an auxiliary cylinder.

The servo electric cylinder is composed of a servo motor, a ball screw, a cylinder barrel, a piston rod, a coupling, a screw rod support and a piston rod guide; a piston rod is placed in the cylinder barrel, a lead screw nut on the ball screw is an installation base of the piston rod, the servo motor rotates to drive the ball screw to rotate, and the rotary motion of the servo motor is converted into the linear motion of the piston rod through the lead screw nut on the ball screw, so that the telescopic motion of the electric cylinder is realized; when the parallel electric cylinder operates, the single-degree-of-freedom motion or the two-degree-of-freedom compound motion of the swing platform is realized.

A servo device matched with a swing table is characterized in that a steel plate is embedded in reinforced concrete, an oil cylinder supporting assembly and a fixed supporting hinged support assembly are fixedly connected with the embedded steel plate through foundation bolts, four dampers are installed on a foundation around the fixed supporting hinged support assembly, an upper ear of the fixed supporting hinged support assembly and the dampers form mechanical limit, an oil cylinder lower hinged support assembly is fixedly connected with the oil cylinder supporting assembly through a connecting bolt, the oil cylinder upper hinged support assembly is connected with a heat exchanger frame through a connecting bolt, the piston rod ends of a first oil cylinder assembly, a second oil cylinder assembly, a third oil cylinder assembly and a fourth oil cylinder assembly are hinged with the oil cylinder upper hinged support assembly connected with the heat exchanger frame, a cylinder barrel is hinged with the oil cylinder lower hinged support assembly connected with the oil cylinder supporting assembly, the oil cylinder assemblies push the heat exchanger and the frame to rotate around the fixed supporting hinged support assembly, and the oil cylinder assembly pushes the heat exchanger and the frame, The outside of the oil cylinder is welded with a safety support component, each group of oil cylinder support component and the safety support component form a component independently and are of a section bar welding steel structure, reinforcing beam components are connected between the four groups of oil cylinder support components and the four groups of safety support components to enable the four groups of support components to form a whole, an electric cylinder support component and a fixed support hinged support component are fixedly connected with a pre-buried steel plate through foundation bolts to enable the electric cylinder support component and the fixed support hinged support component to be connected with a reinforced concrete foundation into a whole, an electric cylinder lower hinged support component is fixedly connected with the electric cylinder support component through a connecting bolt, the electric cylinder upper hinged support component is connected with a heat exchanger frame through a connecting bolt, the piston rod ends of a first electric cylinder component and a second electric cylinder component are hinged with the electric cylinder upper hinged support component connected with the heat exchanger frame, and the first electric cylinder component and the second electric, the upper end and the lower end of the electric cylinder are fixed by a first steel plate and a second steel plate respectively to ensure the synchronous extension of three servo electric cylinders, then the first steel plate and the second steel plate at the upper end and the lower end of each servo electric cylinder are hinged with an upper hinged support component and a lower hinged support component by bolts respectively, a cylinder barrel is hinged with an electric cylinder lower hinged support component connected with an electric cylinder support component, the electric cylinder component pushes a heat exchanger and a frame thereof to rotate, roll and pitch around the fixed support hinged support components, the electric cylinder component has an emergency band-type brake function, safety support components are welded on the upper part of the electric cylinder support component and outside the electric cylinder, each electric cylinder support component and the safety support component form a component independently and are all profile welded steel structures, reinforcing beam components are connected between the four groups of electric cylinder support components and the four groups of safety support components to enable the four groups of support components to form a, The pipeline T and the pipeline X are respectively connected with a high-pressure pipeline, an oil return pipeline and a control oil pipeline of an external hydraulic oil source, the servo valve is respectively connected with the pipeline P, the pipeline T, the pipeline X, a first cartridge valve core and a second cartridge valve core, the first cartridge valve core is connected with the servo oil cylinder through a pipeline A, and the second cartridge valve core is connected with the servo oil cylinder through a pipeline B; the first cartridge valve core, the first cover plate, the first shuttle valve and the first electromagnetic valve are sequentially connected to form a first cartridge valve suite, and the first cover plate is respectively connected with the pipeline P, the pipeline A and the pipeline T; the second cartridge valve core, the second cover plate, the second shuttle valve and the third electromagnetic valve are sequentially connected to form a second cartridge valve suite, and the second cover plate is respectively connected with the pipeline P, the pipeline B and the pipeline T; the first overflow valve is respectively connected with the pipeline B and the pipeline T, and the second overflow valve is respectively connected with the pipeline A and the pipeline T; the second electromagnetic valve is connected with the throttle valve and the double-hydraulic-control one-way valve in sequence, the double-hydraulic-control one-way valve is connected with the servo oil cylinder through a pipeline A and a pipeline B respectively, and the second electromagnetic valve is connected with a pipeline P and a pipeline T respectively; a pressure measuring joint MP is arranged between the servo valve and the pipeline P, a pressure measuring joint MB is arranged between the first overflow valve and the pipeline B, and a pressure measuring joint MA is arranged between the second overflow valve and the pipeline A.

The cartridge valve external member and the servo valve are connected in series to an oil path of the servo oil cylinder, the servo oil cylinder can move after the cartridge valve external member is communicated with the oil path of the servo valve, the servo oil cylinder can be stopped when any one of the oil paths is cut off, the oil path is in a cut-off state under the conditions of shutdown, power failure or emergency, the servo oil cylinder can be locked at the current position, and the swing table does not move relatively when the swing table is shut down. The cartridge valve suite is of a symmetrical structure.

The servo electric cylinder is composed of a servo motor, a ball screw, a cylinder barrel, a piston rod, a coupling, a screw rod support and a piston rod guide; a piston rod is placed in the cylinder barrel, a lead screw nut on the ball screw is an installation base of the piston rod, the servo motor rotates to drive the ball screw to rotate, and the rotary motion of the servo motor is converted into the linear motion of the piston rod through the lead screw nut on the ball screw, so that the telescopic motion of the electric cylinder is realized; when the parallel electric cylinder operates, the single-degree-of-freedom motion or the two-degree-of-freedom compound motion of the swing platform is realized.

The invention has the following beneficial effects: aiming at the traditional two-degree-of-freedom platform, the invention realizes the support, restraint and drive of a huge test piece, overcomes the problems of large overall volume, high gravity center and large self rotational inertia of the test piece and a frame, has the advantages of large load mass of the swing platform, firm and compact structure, small overall occupied space, high utilization rate, accurate and stable motion, safety and reliability, can realize the rotation around X, Y two shafts, can perform compound motion at the same time, and can truly achieve the simulation effect of the LNG pipe-wound heat exchanger on the sea. In addition, the device can also be applied to testing and experiments of special products in national defense industries such as aviation, aerospace, weaponry, ships, electronics and the like.

Drawings

A more complete appreciation of this invention, and many of the attendant advantages thereof, will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein the accompanying drawings are included to provide a further understanding of the invention, and form a part of this specification, and wherein there is shown by way of illustration and description of the invention, and not by way of limitation, of the invention, in which:

FIG. 1 is a schematic structural diagram of a servo cylinder driving structure in a front view.

Fig. 2 is a schematic top view of the actuating structure of the servo cylinder according to the present invention.

Fig. 3 is a schematic structural view of a servo electric cylinder driving structure of the present invention.

Fig. 4 is a schematic top view of the servo electric cylinder driving structure of the present invention.

FIG. 5 is a schematic structural diagram of a commercially available servo cylinder of the present invention.

Fig. 6 is a schematic diagram of the servo electric cylinder three-cylinder parallel connection of the invention.

Fig. 7 is a schematic diagram of a single cylinder structure of the servo electric cylinder.

FIG. 8 is a schematic diagram of the electrical control system for the oil source of the present invention.

FIG. 9 is a PLC ladder diagram of the electrical control system of the oil source of the present invention.

FIG. 10 is a schematic diagram of the logical relationship of the system of the present invention.

Fig. 11 is a schematic diagram of the motion control system of the present invention.

FIG. 12 is a schematic diagram of a discretized sampling control of a servo cylinder according to the invention.

FIG. 13 is a diagram illustrating a simulation result of a step response of the servo control system according to the present invention.

FIG. 14 is a schematic of the digital control algorithm (optimized PID) of the present invention.

FIG. 15 is a schematic diagram of the servo cylinder control of the present invention.

FIG. 16 is a hydraulic schematic of the servo cylinder assembly of the present invention.

Fig. 17 is a schematic view of the explosion proof device of the present invention.

Fig. 18 is a control schematic diagram of the servo electric cylinder of the present invention.

Figure 19 is a schematic view of a half-underground installation form of the present invention.

The invention is further described with reference to the following figures and examples.

Detailed Description

Obviously, many modifications and variations of the present invention based on the gist of the present invention will be apparent to those skilled in the art.

It will be apparent to those skilled in the art that, as used herein, the singular forms "a," "an," "the," and "the" may include the plural forms as well, unless expressly stated otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element, component or section is referred to as being "connected" to another element, component or section, it can be directly connected to the other element or section or intervening elements or sections may also be present. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description, "plurality" means two or more unless specifically limited otherwise.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art.

The following further explanation is provided in order to facilitate understanding of the embodiments, and the embodiments are not to be construed as limiting the embodiments.

Example 1: as shown in fig. 1, 2, 5, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18 and 19, a hydraulic swing table servo device includes an oil source electrical control system and a motion control system.

As shown in fig. 1, 2 and 5, a hydraulic swing platform is provided with a servo device, a steel plate is embedded in reinforced concrete 1, and an oil cylinder supporting component 2 and a fixed supporting hinged support component 4 are fixedly connected with the embedded steel plate through foundation bolts so as to be connected with a reinforced concrete foundation into a whole. Four dampers 12 are arranged on the foundation around the fixed support hinged support component 4, and the upper ear of the fixed support hinged support component 4 and the dampers 12 form mechanical limit to prevent the test piece from overturning. The oil cylinder lower hinged support assembly 10 is fixedly connected with the oil cylinder supporting assembly 2 through a connecting bolt, and the oil cylinder upper hinged support assembly 11 is connected with the heat exchanger frame 40 through a connecting bolt. The piston rod ends of the first oil cylinder assembly 6, the second oil cylinder assembly 7, the third oil cylinder assembly 8 and the fourth oil cylinder assembly 9 are hinged with an oil cylinder upper hinged support assembly 11 connected to the heat exchanger frame 40, and the cylinder barrel is hinged with an oil cylinder lower hinged support assembly 10 connected to the oil cylinder supporting assembly 2. The oil cylinder assembly pushes the heat exchanger 41 and the frame 40 of the heat exchanger to rotate around the fixed support hinged support assembly 4, the rolling and pitching movement of the shaking device is achieved, the oil cylinder assembly has a locking function, and the testing device is guaranteed to be safe and stable under any conditions. Safe supporting components 3 are welded on the upper portions of the oil cylinder supporting components 2 and the outer portions of the oil cylinders, and each group of oil cylinder supporting components 2 and each group of safe supporting components 3 are formed independently and are all of a section bar welding steel structure. And a reinforcing beam assembly 13 is connected between the four groups of oil cylinder supporting assemblies 2 and the four groups of safety supporting assemblies 3, so that the four groups of supporting assemblies 2 form a whole as the final protection of the shaking device, and the possibility of overturning of the test piece is avoided.

As shown in fig. 3, 4, 6 and 7, the servo device is provided for an electric rocking platform, wherein a steel plate is embedded in reinforced concrete 1, and an electric cylinder supporting assembly 2 and a fixed supporting hinged support assembly 4 are fixedly connected with the embedded steel plate through anchor bolts so as to be connected with a reinforced concrete foundation into a whole. Four dampers 12 are arranged on the foundation around the fixed support hinged support component 4, and the upper ear of the fixed support hinged support component 4 and the dampers 12 form mechanical limit to prevent the test piece from overturning. The electric cylinder lower hinged support assembly 10 is fixedly connected with the electric cylinder supporting assembly 2 through a connecting bolt, and the electric cylinder upper hinged support assembly 11 is connected with the heat exchanger frame 40 through a connecting bolt. The piston rod ends of the first electric cylinder assembly 44 and the second electric cylinder assembly 45 are hinged to the electric cylinder upper hinged support assembly 11 connected to the heat exchanger framework 40, the first electric cylinder assembly 44 and the second electric cylinder assembly 45 are respectively composed of three large-thrust servo electric cylinders 55, the upper end and the lower end of each electric cylinder are fixed by a first steel plate 46 and a second steel plate 47 respectively, the stretching synchronization of the three servo electric cylinders is guaranteed, then the first steel plates 46 at the upper end and the lower end of each servo electric cylinder, the second steel plates 47 are hinged to the upper hinged support assembly 42 and the lower hinged support assembly 43 respectively through bolts, and the cylinder barrel is hinged to the electric cylinder lower hinged support assembly 10 connected to the electric cylinder supporting assembly 2. The electric cylinder component pushes the heat exchanger 41 and the framework 40 thereof to rotate around the fixed support hinged support component 4, so that the shaking device can perform rolling and pitching motions, the electric cylinder component has an emergency band-type brake function, and the upper and lower approach switches and the upper and lower stroke switches ensure that the testing device is safe and stable under any condition. The safe supporting components 3 are welded on the upper portions of the electric cylinder supporting components 2 and the outer portions of the electric cylinders, and each group of electric cylinder supporting components 2 and each group of safe supporting components 3 are formed independently and are all section bar welding steel structures. And a reinforcing beam assembly 13 is connected between the four groups of electric cylinder supporting assemblies 2 and the four groups of safety supporting assemblies 3, so that the four groups of supporting assemblies 2 form a whole as the final protection of the shaking device, and the possibility of overturning of the test piece is eliminated.

As shown in fig. 16, a pipeline P, a pipeline T, and a pipeline X are respectively connected to a high-pressure pipeline, an oil return pipeline, and a control oil pipeline of an external hydraulic oil source, a servo valve 200 is respectively connected to the pipeline P, the pipeline T, the pipeline X, a first cartridge 207, and a second cartridge 212, the first cartridge 207 is connected to a servo cylinder 205 through a pipeline a, and the second cartridge 212 is connected to the servo cylinder 205 through a pipeline B; the first cartridge valve 207, a first cover plate 209, a first shuttle valve 210 and a first electromagnetic valve 211 are sequentially connected to form a first cartridge valve kit, and the first cover plate 209 is respectively connected with the pipeline P, the pipeline A and the pipeline T; the second cartridge valve 212, the second cover plate 213, the second shuttle valve 214 and the third electromagnetic valve 215 are sequentially connected to form a second cartridge valve kit, and the second cover plate 213 is respectively connected with the pipeline P, the pipeline B and the pipeline T; the first overflow valve 206 is connected with the pipeline B and the pipeline T respectively, and the second overflow valve 216 is connected with the pipeline a and the pipeline T respectively; the second electromagnetic valve 202 is sequentially connected with the throttle valve 203 and the double hydraulic control one-way valve 204, the double hydraulic control one-way valve 204 is respectively connected with the servo oil cylinder 205 through a pipeline A and a pipeline B, and the second electromagnetic valve 202 is respectively connected with a pipeline P and a pipeline T; a pressure tap MP is provided between servo valve 200 and line P, a pressure tap MB is provided between first relief valve 206 and line B, and a pressure tap MA is provided between second relief valve 216 and line a.

The functions of the main hydraulic components are explained as follows:

(1) the servo valve 200: the servo valve is a signal conversion element, and the servo valve adjusts the opening size or direction of the servo valve core under the control of the motion controller, so that the servo oil cylinder automatically accelerates, decelerates and reverses motion according to a program.

(2) The second two-way cartridge valve 212 and the third electromagnetic directional valve 215 are valves for realizing communication, cutting and direction change of hydraulic oil paths.

(3) The first two-way cartridge valve 207, the second two-way cartridge valve 212, the first electromagnetic directional valve 211, the third electromagnetic directional valve 215, the first cartridge valve cover plate 209, the second cartridge valve cover plate 213, the first shuttle valve 210 and the second shuttle valve 214 are assembled together to be used in a complete set, the first electromagnetic directional valve 211 is called a cartridge valve kit, the first shuttle valve 210, the first cartridge valve cover plate 209 and the first two-way cartridge valve 207 are connected, the third electromagnetic directional valve 215 is connected with the second shuttle valve 214, the second cartridge valve cover plate 213 and the first electromagnetic directional valve 211, and the cartridge valve kit is of a symmetrical structure.

The cartridge valve suite can cut off and communicate an oil way by controlling the corresponding electromagnetic directional valve. The cartridge valve external member and the servo valve are connected in series to the oil path of the servo oil cylinder, when the cartridge valve external member is communicated with the oil path of the servo valve, the servo oil cylinder can move, and the servo oil cylinder can be stopped when any one of the oil paths is cut off. The system selects a normally closed cartridge valve suite, an oil way is in a cut-off state under the conditions of shutdown, power failure or emergency, a servo oil cylinder can be locked at the current position, relative motion does not occur when the swing platform is shut down, and the safety of the swing platform is ensured.

(4) Second electromagnetic directional valve 202: the electromagnetic directional valve is a valve for realizing communication, cutting off and reversing of a hydraulic oil circuit, and has the main functions of manually controlling the starting, the stopping and the reversing of a servo oil cylinder and manually controlling the motion of a swing platform in debugging and emergency situations.

(5) Double one-way throttle valve 203: the flow regulating valve can manually regulate the flow of oil flowing through the oil way, so that the aim of manually controlling the operating speed of the servo oil cylinder is fulfilled.

(6) Double hydraulic control check valve 204: and cutting off the oil way after stopping or powering off, so that the servo oil cylinder and the swing platform are locked at the current position.

(9) First relief valve 206 and second relief valve 216 of direct relief valve: the safety valve of the servo oil cylinder can manually set the maximum working pressure of the servo oil cylinder, and overpressure automatically overflows.

(10) Pressure tap MP208 is the pressure tap point for pipe P, pressure tap MA217 is the pressure tap point for pipe a, and pressure tap MB218 is the pressure tap point for pipe B.

(11) The servo cylinder 205: in the executing or assisting mechanism for the motion of the swing platform, a working oil cavity of the servo oil cylinder can be divided into two oil cavities, namely a rodless cavity A (without a piston rod end) and a rod cavity B (with a piston rod end), and when high-pressure oil (oil inlet) is input into one of the two oil cavities, the oil in the other oil cavity flows back to an oil tank (oil return), so that the motion of the servo oil cylinder can be realized. The oil inlet flow is large, and the servo oil cylinder moves quickly; otherwise, it is slow; when the oil inlet and oil return two-cavity oil path is cut off, the servo oil cylinder stops and keeps at the current position. The displacement sensor is arranged in the servo oil cylinder (or on the outer surface), can measure the displacement of the oil cylinder in real time, converts the displacement into an electric signal and sends the electric signal to the servo control system.

As shown in fig. 17, the oil source and electric appliance control room 104 is connected with a control valve set 108 (an explosion-proof isolating device 107 is installed outside) through an input and output pipeline 103, and the control valve set 108 is connected with the servo oil cylinder 100 through an oil cylinder control pipeline 109 and a high-pressure rubber tube 110 (a rubber tube sheath 111 is installed outside); a cylinder displacement sensor control cable 102 (the outside of which is provided with a first metal pipe 101) is respectively connected with the control valve group 108 and the servo cylinder 100; a servo system master control cable 106 (externally provided with a second metal pipe 105) is respectively connected with the oil source and electric appliance control room 104 and the control valve group 108.

As shown in fig. 10, when the driving component is a servo cylinder, the control system includes an oil source electrical control system and a motion control system, the oil source electrical control system is composed of a state monitoring computer, a PLC and oil source control cabinet, an oil source cooling system, an oil tank, an oil source resistance cabinet and corresponding hydraulic monitoring software, and the motion control system is composed of a state monitoring computer, a motion controller, a control cabinet and corresponding equipment management software, equipment control software and the like. The operation control of a whole set of hydraulic system motor set, the system pressure control, the operation control of the swing platform, the safety protection and the like are completed through the mutual matching of all the systems, and the monitoring protection of the working condition of the oil source is realized through a series of sensing devices.

As shown in fig. 8, the oil source electrical control system mainly includes an oil source power cabinet and a PLC oil source control cabinet. The PLC oil source control cabinet and the oil source power cabinet are provided with electrical elements, configuration control lines and power lines. Wherein: the main elements in the PLC oil source control cabinet are a PLC, a direct current power supply, a relay and the like. The main elements in the oil source power cabinet are a circuit breaker and a contactor. The PLC is the core of the whole set of oil source control system and realizes logic control through software programming. The direct current power supply supplies power for the weak current components. The relay receives the PLC control signal and then controls the coil of the contactor to realize the starting and stopping of the oil source power system.

As shown in fig. 9, the PLC program controls the logic of the oil supply system. The oil source electrical control system drags and controls a hydraulic pump station motor set, selects a PLC and a relay and other logic control devices to form a control core of the hydraulic oil source system, and realizes the supply of the pressure and the flow of the hydraulic station oil source by dragging and controlling the hydraulic station motor under the support of PLC control software (ladder diagram) with complete functions.

Meanwhile, the oil source electrical control system, the PLC digital input expansion module, the PLC analog input expansion module and the RS485 communication module form an acquisition system of the oil source system, the working condition signals of the oil source system are acquired in real time and are communicated with the state monitoring computer in real time through the RS485 bus, and the state monitoring computer adopts a Windows operating system to realize the unified monitoring of the oil source system.

A circuit breaker and a contactor are arranged in a main loop of the hydraulic oil source electric control system, and the hydraulic oil source electric control system can effectively protect open phases, overcurrent, overheating and short circuits. The main loop has stronger adaptability to overpressure and underpressure.

Wherein, the input of PLC control unit of PLC digital input extension module includes: collecting oil source temperature, liquid level, pressure and system limit signals, judging manual and automatic states, and receiving commands of starting, stopping, boosting, unloading, heating and cooling of the system.

The output of the PLC control unit of the PLC digital input expansion module comprises: displaying working conditions of detection points such as temperature, liquid level and pressure, reporting accident states, and executing commands such as pump starting, stopping, boosting, unloading, system heating and cooling.

As shown in fig. 11, the motion control system includes a motion controller, an a/D control card, a D/a control card, a DI/DO control card, a swing table motion control module, a monitoring module, a motion control module, and the like.

And the motion controller is used for adding a real-time control function to the modification of the Windows operating system. The expansion function of the motion controller hardware is utilized, and an A/D control card, a D/A control card and a DI/DO control card are configured to realize the motion control, safety protection and real-time monitoring of the swing platform and a matched servo system.

The D/A card control card is an analog output card, selects an imported product PCI-1723, and has the following basic characteristics:

8-path analog quantity output, 16-bit resolution, output range: 5V +/-10V, 0-5V, 0-10V and 4-20 mA current output, the conversion time is 6 mu s, and the conversion error is less than or equal to 0.25 percent.

The A/D control card is an analog input card, an imported product PCI-1716L is selected, and the basic characteristics are as follows:

16-bit A/D high resolution, 16 single-ended analog input or 8 differential analog input, sampling rate: 100kHz, automatic channel/output gain scan, programmable setting of DMA and input range with 0.003% error.

The DI/DO control card is a switching value input/output card, selects PCI-1750 and has the following basic characteristics:

the photoelectric isolation 16-path digital quantity input, the photoelectric isolation 16-path digital quantity output, the input level TTL and the output level TTL.

The swing table motion control module is used for controlling and testing the state parameters of the swing table.

The monitoring module is used for monitoring the test process, processing test data and the like.

The motion control module is used for reversely solving the two-degree-of-freedom position instruction and outputting a control instruction to the servo valve to control the four servo oil cylinder assemblies to operate; and calculating the accurate position of each servo oil cylinder assembly by utilizing PID regulation according to the information and the real-time state of a displacement sensor arranged in each servo oil cylinder assembly, and outputting a control platform signal.

The motion controller and the state monitoring computer realize the servo control, logic control, fault detection, safety protection and the like of the whole machine.

As shown in fig. 12 and 13, the computer servo control of the servo cylinder is a discretized sampling control technique in which a continuous servo cylinder assembly displacement command signal is discretized at a certain sampling period, and a cylinder position command signal is regarded as a constant (step signal) in each command period.

As shown in fig. 15, the servo cylinder closed-loop control strategy is a servo control loop composed of a digital control algorithm, D/a conversion software, a D/a conversion board, a power amplifier, a servo cylinder, a displacement sensor, a/D conversion software, and an a/D conversion board. The closed-loop control steps of the servo oil cylinder are as follows:

step 1), sampling and collecting a displacement sensor feedback signal by the A/D conversion software and the A/D conversion plate, converting a voltage signal into a digital signal, and sending the digital signal to the motion controller.

And 2) comparing the position feedback signal of the displacement sensor with the command signal to calculate a difference value.

And 3) calculating a control signal for the servo valve according to the difference value by using a digital control algorithm.

And 4), converting the signal by D/A conversion software and a D/A conversion plate, and amplifying the signal by a power amplifier to form a driving current for the servo valve, wherein the driving current drives the valve plug to displace.

And 5) controlling the flow rate and direction of the oil flowing to the servo oil cylinder by the direction and distance of the displacement of the valve core. Thus, the direction and speed of the servo cylinder movement are controlled.

Step 6), repeating the steps 1) to 5).

The sampling, comparing, calculating, power amplifying, driving, servo oil cylinder movement, re-sampling, re-comparing … … in a command period form a closed loop feedback control, the period of the closed loop control is much shorter than the command period. Therefore, in one instruction cycle, the servo oil cylinder finally reaches the instruction position through high-speed repeated closed-loop iteration, and then enters the next instruction cycle to perform closed-loop control on the next step signal. In this way, the servo oil cylinder is controlled to realize the movement of the preset rule.

As shown in fig. 14, in order to achieve the fast, smooth and accurate control goal, a digital control algorithm, i.e. an optimized PID control algorithm, is adopted.

The optimized PID control algorithm firstly compares the control command with the actual response to obtain the deviation e (t), and then, the proportion ke (t) of the deviation and the integral of the deviation are calculated

Differential with deviation

Control is carried out, namely:

where e (t) -the controller input signal, typically the difference between the input signal and the feedback signal.

u (t) -controller output signal, typically a control signal given to the controlled object.

Kp-controller amplification factor.

Ti-controller integration time constant.

T_d-the controller differentiates the time constant.

As shown in fig. 12 and 13, the motion control system uses the digital PID control law, namely, discretizes the above equation, and when discretizing, the motion control system causes:

u(t)≈u(kT)

e(t)≈e(kT)

where e (it) is a variable input signal sampling period, u (kT) is a fixed output signal sampling period, e (kT) is a fixed input signal sampling period, e (kT-T) is a fixed input signal sampling period subtracted from the fixed input signal sampling period, i is a variable, and K is a fixed coefficient.

T is a sampling period, and when T is small enough, the accuracy of model discretization is ensured. Thus, the discretized PID control law is:

where e (kT) is the fixed input signal sampling period, e (jt) is the varying input signal sampling period, e (kT-T) is the fixed input signal sampling period minus the sampling period, TI is the integral, J is the variable, and K is the constant.

The optimized PID control algorithm is the most widely applied and basic control algorithm at present, is widely applied to various motion platforms at present through operation verification of multiple devices, can automatically adjust parameters of a controller, and has the advantages of good robustness, high reliability, good self-adaptive capacity of a system and realization of a quick, stable and accurate control target.

In the closed-loop control process, the control algorithm and the iteration period determine the performance of the control system, particularly the control algorithm directly determines the dynamic characteristic of the system, and the produced motion platform can not only quickly respond, but also keep the stability of motion.

In a digital control system of a motion platform, the instruction period reaches 10ms, and the closed-loop control period reaches 60 mu s.

As shown in figure 2, the two servo oil cylinders are used as the driving cylinders to drive the swing platform to do single-degree-of-freedom or two-degree-of-freedom compound motion, the two servo oil cylinders are arranged on the opposite sides of the servo oil cylinders and used as the auxiliary oil cylinders to assist the swing platform in moving, the auxiliary oil cylinders have the functions of emergency locking, damping and the like, the overall rigidity of the swing platform is increased, and the overall safety of the swing platform in the moving process is ensured.

As shown in fig. 5, the cylinder includes at least a cylinder tube 38 and a piston rod 39. The servo oil cylinder with high performance and low friction is selected, and the superior performance of the servo oil cylinder provides a powerful guarantee for the realization of the whole machine performance and the whole machine technical index.

As shown in fig. 16 and 17, due to the special application and site installation requirements of the swing platform and the associated servo system, a safety protection function and a system explosion-proof measure need to be configured.

As shown in fig. 17, a high-pressure rubber hose 110, a rubber hose sheath 111, a servo cylinder 100, a cylinder position sensor control cable 102, a first shielding wire externally penetrating metal pipe 101, a cylinder control pipeline 109, a control valve group 108, a valve group input and output oil pipe 103, an oil source and electric appliance control room 104, an isolating device 107, a servo electric appliance master control cable 106, and a second shielding wire externally penetrating metal pipe 105 are as follows:

(1) the servo valve and the servo oil cylinder displacement sensor form a closed loop control system under the control of the motion controller, and the motion controller adjusts the opening size or direction of the servo valve core to realize automatic acceleration, deceleration and reversing motion of the servo oil cylinder according to a program. And the servo oil cylinder has a position maintaining and locking function.

(2) The control principle of abnormal locking of the servo oil cylinder movement is as follows:

when the electromagnetic directional valve is powered off, no matter whether the oil pressure exists in an oil supply oil way or not, oil cannot enter the two cavities of the servo oil cylinder through the servo valve, and the oil in the rodless cavity of the servo oil cylinder cannot flow back to the oil tank through the electromagnetic directional valve and the hydraulic control one-way valve, so that the locking of a servo oil cylinder assembly is realized;

when the electromagnetic directional valve is electrified, the rodless cavity of the servo oil cylinder returns oil, the rod cavity of the servo oil cylinder enters oil, and the servo oil cylinder retracts.

(3) The important explosion-proof equipment of the system is an oil source and servo oil cylinder control system, in order to save the construction cost of the equipment, the plane layout of the invention places the oil source outside an explosion-proof area, and conveys a high-pressure medium to the servo oil cylinder through a pipeline, in order to ensure the integral frequency response and control precision of the servo oil cylinder, a servo oil cylinder control valve group needs to be installed on the servo oil cylinder or installed nearby, so that the installation position of the servo oil cylinder control valve group is located in a dangerous area and explosion-proof treatment needs to be carried out. According to the scheme, the servo control valve group is installed inside a specially-made explosion-proof positive pressure cabinet (filled with inert gas and the explosion-proof grade is customizable), and hydraulic oil and control signals are transmitted through a hydraulic pipeline and an explosion-proof cable. In addition, the length of a rubber pipe is reduced during the design of a hydraulic pipeline of the servo oil cylinder assembly, a fireproof sleeve and a stainless steel sheath are arranged outside the rubber pipe, the fireproof and anticorrosive capabilities of the hydraulic pipeline are improved, the oil rigidity is enhanced, and the optimal matching relation is provided for realizing remote servo control. A control circuit of the swing platform (from a control cabinet to the swing platform) is provided with a special shielding cable with a metal pipe in a penetrating way, and the pipeline is effectively grounded, so that the control circuit is not soaked, scraped, stepped and bitten by accumulated water, and the requirements of fire prevention, dust prevention, explosion prevention and the like are met.

Fig. 16, in which the main hydraulic components are described as follows:

(1) the servo valve 200: the servo valve is a signal conversion element, and the servo valve adjusts the opening size or direction of the servo valve core under the control of the motion controller, so that the servo oil cylinder automatically accelerates, decelerates and reverses motion according to a program.

(2) Electromagnetic directional valve (211/215): the electromagnetic directional valve is a valve for realizing communication, cutting off and reversing of a hydraulic oil way.

(3) The first two-way cartridge valve 207, the second two-way cartridge valve 212, the first electromagnetic directional valve 211, the third electromagnetic directional valve 215, the first cartridge valve cover plate 209, the second cartridge valve cover plate 213, the first shuttle valve 210 and the second shuttle valve 214 are assembled together to be used in a complete set, the first electromagnetic directional valve 211 is called a cartridge valve kit, the first shuttle valve 210, the first cartridge valve cover plate 209 and the first two-way cartridge valve 207 are connected, the third electromagnetic directional valve 215 is connected with the second shuttle valve 214, the second cartridge valve cover plate 213 and the first electromagnetic directional valve 211, and the cartridge valve kit is of a symmetrical structure.

The cartridge valve suite can cut off and communicate an oil way by controlling the corresponding electromagnetic directional valve. The cartridge valve external member and the servo valve are connected in series to the oil path of the servo oil cylinder, when the cartridge valve external member is communicated with the oil path of the servo valve, the servo oil cylinder can move, and the servo oil cylinder can be stopped when any one of the oil paths is cut off. The system selects a normally closed cartridge valve suite, an oil way is in a cut-off state under the conditions of shutdown, power failure or emergency, a servo oil cylinder can be locked at the current position, relative motion does not occur when the swing platform is shut down, and the safety of the swing platform is ensured.

(4) Second electromagnetic directional valve 202: the electromagnetic directional valve is a valve for realizing communication, cutting off and reversing of a hydraulic oil circuit, and has the main functions of manually controlling the starting, the stopping and the reversing of a servo oil cylinder and manually controlling the motion of a swing platform in debugging and emergency situations.

(5) Double one-way throttle valve 203: the flow regulating valve can manually regulate the flow of oil flowing through the oil way, so that the aim of manually controlling the operating speed of the servo oil cylinder is fulfilled.

(6) Double hydraulic control check valve 204: and cutting off the oil way after stopping or powering off, so that the servo oil cylinder and the swing platform are locked at the current position.

(9) Direct relief valve (206/216): the safety valve of the servo oil cylinder can manually set the maximum working pressure of the servo oil cylinder, and overpressure automatically overflows.

(10) Pressure tap (208/217/218): the numbers MP, MA and MB of the pressure measuring joints are respectively the pressure measuring points of the pipeline P, A, B.

(11) The servo cylinder 205: in the executing or assisting mechanism for the motion of the swing platform, a working oil cavity of the servo oil cylinder can be divided into two oil cavities, namely a rodless cavity A (without a piston rod end) and a rod cavity B (with a piston rod end), and when high-pressure oil (oil inlet) is input into one of the two oil cavities, the oil in the other oil cavity flows back to an oil tank (oil return), so that the motion of the servo oil cylinder can be realized. The oil inlet flow is large, and the servo oil cylinder moves quickly; otherwise, it is slow; when the oil inlet and oil return two-cavity oil path is cut off, the servo oil cylinder stops and keeps at the current position. The displacement sensor is arranged in the servo oil cylinder (or on the outer surface), can measure the displacement of the oil cylinder in real time, converts the displacement into an electric signal and sends the electric signal to the servo control system.

As shown in fig. 19, in order to make the mechanical structure of the swing table operate more safely and stably and save cost as much as possible, an installation form is recommended: semi-underground installation, a preliminary analysis of this installation is as follows.

(1) The overall height of the whole system can be effectively reduced, and the influence of severe weather environments such as wind resistance on the system is reduced. The pit bottom is furnished with monitoring water level instrument, dredge pump, ponding in can real-time monitoring pit to in time discharge, the normal operating of effectual guarantee equipment.

(2) Compared with the ground installation mode, the semi-underground installation mode enables the lower hinged support to be directly installed on the ground foundation, so that a supporting component can be omitted, the design and manufacturing period can be shortened, and the cost can be reduced.

(3) Installation and maintenance. The whole height of the whole system is reduced, so that the system is helpful for field installation and later maintenance, and meanwhile, the safety is improved; meanwhile, a channel and a step are reserved from the pit to the ground, so that the installation of the pipeline of the swing platform and the later maintenance work of equipment are facilitated (whether the pipeline of the swing platform can be reasonably arranged is considered here).

(4) When adopting this kind of mounting means, the pipeline condition of being connected to LNG pipe heat exchanger is taken into full consideration, avoids interfering.

Example 2: as shown in fig. 3, 4, 6, 7 and 18, the invention provides a simulation test platform which has large load mass, firm and compact structure, small overall occupied space, accurate, stable, safe and reliable motion, can truly achieve the simulation effect of shaking of LNG around a tubular heat exchanger, can realize rotation around X, Y two axes, and can simultaneously perform compound motion.

The utility model provides a rocking platform is driven by servo electronic jar, and roll servo electronic jar 44 and pitch servo electronic jar 45 comprises many direct-connected type electronic jars 55, upper hinged support connecting plate 47 and lower hinged support connecting plate 46, and the piston rod 53 rod end of three servo electronic jars that connect in parallel is connected at upper hinged support connecting plate 47, and motor housing 56 installs under on hinged support connecting plate 46, realizes through upper hinged support connecting plate 47 that many parallel servo electronic jars are connected with upper hinged support 11, is connected to through upper hinged support bottom plate 42 around pipe heat exchanger frame 40. The connection of a plurality of parallel servo electric cylinders with the lower hinged support assembly 10 is realized through a lower hinged support connecting plate 46, and the connection is realized through a lower hinged support bottom plate 43 to the supporting assembly 2. The servo electric cylinder is driven by an instruction sent by the motion controller, and the X, Y rotation around two axes and the composite motion of the rotation are realized by controlling the strokes of the servo electric cylinder in two directions.

A swing platform, preferably, main parts of a servo electric cylinder at least comprise a servo motor 48, a ball screw 57, a cylinder 52, a piston rod 53, a motor shell 56, a coupler 49, a screw support 50, a piston rod guide 54 and the like, wherein the piston rod 53 is connected with a ball screw nut 51 and arranged in the cylinder 52, the tail end of the ball screw 57 is integrally and directly connected with the servo motor 48 through the coupler 49, and the screw support 50 bears the axial force and the lateral force of the ball screw 57, so that the service life of the screw is prolonged. The front end of the piston rod 53 is mounted on the upper hinge support connecting plate 47, and the rear end of the motor housing 56 is mounted on the lower hinge support connecting plate 46. The rotational motion of the ball screw 57 is converted into linear motion of the ball nut 51 by a kinematic pair, and the ball nut 51 is fixed to the piston rod 53 to form linear motion of the piston rod. The structural form of the direct-connection electric cylinder reduces the intermediate transmission speed change system, and the electric cylinder has good rigidity, high mechanical efficiency and accurate transmission precision.

As shown in fig. 18, a control system for a swing table and a servo system thereof, in which a power source is a servo motor, mainly comprises a motion controller, a servo driver, a servo motor, and the like. The servo driver is respectively connected with the motion controller, the rotary encoder, the alternating current servo motor, the DO (digital output signal) and the DI (digital input signal), the alternating current servo motor is respectively connected with the DO (digital output signal), the electric cylinder and the rotary encoder, the electric cylinder is respectively connected with the six-degree-of-freedom platform and the Hall element, and the Hall element is connected with the DI (digital input signal).

The electromechanical swing platform controls the movement of the swing platform in a network communication mode. The motion controller sends an instruction to the servo driver, the servo driver and the electric cylinder form a closed-loop control system, and the servo motor rotates to drive the mechanical structure to move, so that a simulation experiment of the swinging table of the pipe-wound heat exchanger is realized. Especially servo system software, must be integrated with servo system hardware, and complete machine function, only so can fully play the function of hardware, can form high-efficient, simple, direct, reliable control system. The high-performance and high-reliability motion controller is used as a main control system, and links such as logic control, servo control, motion driving, dynamic simulation and the like of the whole machine are real-time, digitalized and integrated under the support of software with complete functions. The servo system software of the swing platform consists of two parts, namely control software and test software. The application software of the whole motion system is designed by using a C + + programming language, and the change of each parameter is recorded by using the test software in the test operation process by using a Windows operating system, so that the whole test is more accurate and safer.

Two multi-cylinder parallel electric cylinders of the swing platform are mutually independent servo loops, each loop comprises a plurality of electric cylinders, a motion controller, an alternating current servo motor, a servo driver, a rotary encoder, a Hall element, a DO (digital output signal), a DI (digital input signal) and the like, and under the control of the motion controller, a control system realizes synchronization and coordination of multi-cylinder motion, so that the swing platform generates single-degree-of-freedom or two-degree-of-freedom compound motion with different frequencies and different amplitudes.

The working principle of the invention is as follows: the rolling servo electric cylinder (the first electric cylinder assembly 44) and the pitching servo electric cylinder (the second electric cylinder assembly 45) are respectively driven according to the instruction sent by the motion controller, and the stroke of the electric cylinders is controlled to realize different motion postures of the swing platform, so that the index requirements are met.

All structural components of the invention are theoretically analyzed, calculated and actually used, and a control system is tested and actually used, so that the oscillating table and the matched servo system thereof are proved to be safe and reliable, and the performance of the oscillating table reaches the expected design.

Example 3: as shown in fig. 1, fig. 2, fig. 5, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13, fig. 14, fig. 15, fig. 16, fig. 17, fig. 18, and fig. 19, a method for servo-matching a wobble plate includes the steps of:

when the power source is hydraulic oil, the driving assembly is a servo oil cylinder, the hydraulic oil is conveyed into the servo oil cylinder from the oil source by using an oil source electrical control system and a hydraulic device, and the motion control system and the oil source electrical control system are matched to realize motion control, safety protection and real-time monitoring of the swing platform.

The driving assembly comprises a rolling driving cylinder, a pitching driving cylinder, a rolling auxiliary cylinder and a pitching auxiliary cylinder which are respectively and uniformly distributed around the swing table.

In consideration of control precision and control synchronism, a two-cylinder driving and two-cylinder follow-up mode is adopted when single-degree-of-freedom motion and two-degree-of-freedom compound motion are realized, namely two active cylinders are used as active driving mechanisms, and two auxiliary cylinders are used as auxiliary driving mechanisms.

The auxiliary cylinder has damping and locking functions to ensure the rigidity and safety of the whole movement. The servo oil cylinder loop is a servo control loop formed by D/A conversion software, a D/A conversion plate, a power amplifier, a servo oil cylinder, a displacement sensor, A/D conversion software and an A/D conversion plate.

When the hydraulic oil is delivered to the servo valve, the servo valve and the servo oil cylinder displacement sensor form a closed-loop control system under the control of the motion controller, the size or the direction of the opening of the servo valve core is adjusted, and the servo oil cylinder automatically accelerates, decelerates and reverses motion according to a program.

The single-degree-of-freedom motion or the two-degree-of-freedom compound motion of the swing platform can be realized.

And when the power source is electricity, the driving assembly is a servo electric cylinder, the driving principle of the servo electric cylinder is that the rotary motion of a motor is converted into the linear motion of the servo electric cylinder by utilizing a motion pair of a ball screw to realize the telescopic motion of the servo electric cylinder, and the telescopic motion of the electric cylinder is operated according to the set mode of a control system to realize the motion control and the safety protection of the swing platform.

The driving assembly comprises a rolling cylinder and a pitching cylinder.

The servo electric cylinder is driven in a multi-cylinder parallel mode, and the main reason is that a non-explosion-proof alternating current servo motor (188kW) with the maximum power is selected, and the maximum single-cylinder push-pull force still cannot meet the power requirement of the swing platform, so that the multi-cylinder parallel driving mode is selected.

In consideration of control precision and control synchronism, a double-cylinder driving mode is adopted when single-degree-of-freedom motion and two-degree-of-freedom composite motion are realized, namely, the single-degree-of-freedom composite motion is driven by only one set of pitching driving cylinder and one set of rolling driving cylinder, and no auxiliary cylinder is adopted.

The servo electric cylinder loop comprises a motion controller, an electric cylinder, an alternating current servo motor, a servo driver, a rotary encoder, a Hall element, DO, DI and the like. Under the control of the motion controller, the control system realizes the control of the telescopic motion of the servo electric cylinder, so that the swing platform generates single-degree-of-freedom or multi-degree-of-freedom compound motion with different frequencies and different amplitudes.

The servo electric cylinder is composed of a servo motor, a ball screw, a cylinder barrel, a piston rod, a coupling, a screw rod support, a piston rod guide and the like.

Place the piston rod in the cylinder, the lead screw nut on the ball is the mounting base of piston rod, and servo motor is rotatory to drive the ball and rotates, converts servo motor's rotary motion into the linear motion of piston rod through the lead screw nut on the ball to realize the concertina movement of electronic jar.

When the parallel electric cylinder operates according to the mode set by software, the single-degree-of-freedom motion or the two-degree-of-freedom compound motion of the swing platform can be realized.

As described above, although the embodiments of the present invention have been described in detail, it will be apparent to those skilled in the art that many modifications are possible without substantially departing from the spirit and scope of the present invention. Therefore, such modifications are also all included in the scope of protection of the present invention.

Claims (9)

1. A supporting servo method of a swing platform is characterized in that hydraulic oil or electricity is used as a direct power source; when the power source is hydraulic oil, the driving assembly is a servo oil cylinder, the driving principle of the servo oil cylinder is that hydraulic oil is conveyed into the servo oil cylinder from an oil source by utilizing an oil source electrical control system and a hydraulic device, the hydraulic oil is the power source of the servo oil cylinder, and the motion control system is matched with the oil source electrical control system to realize motion control, safety protection and real-time monitoring of the swing platform; when the power source is electricity, the driving assembly is a servo electric cylinder, the driving principle of the servo electric cylinder is that the rotary motion of a motor is converted into the linear motion of the servo electric cylinder by utilizing a kinematic pair of a ball screw to realize the telescopic motion of the servo electric cylinder, and the telescopic motion of the electric cylinder operates according to the set mode of a control system to realize the motion control and the safety protection of the swing platform; the servo oil cylinder loop is a servo control loop consisting of D/A conversion software, a D/A conversion plate, a power amplifier, a servo oil cylinder, a displacement sensor, A/D conversion software and an A/D conversion plate; when hydraulic oil is conveyed to the servo valve, the servo valve and a servo oil cylinder displacement sensor form a closed-loop control system under the control of the motion controller, the size or the direction of an opening of a servo valve core is adjusted, and the servo oil cylinder automatically accelerates, decelerates and reverses motion according to a program; the single-degree-of-freedom motion or the two-degree-of-freedom compound motion of the swing platform can be realized; the servo electric cylinder loop consists of a motion controller, an electric cylinder, an alternating current servo motor, a servo driver, a rotary encoder, a Hall element, DO and DI; under the control of the motion controller, the control system realizes the control of the telescopic motion of the servo electric cylinder, so that the swing platform generates single-degree-of-freedom or two-degree-of-freedom compound motion with different frequencies and different amplitudes.

2. The servo method matched with the swing table according to claim 1, wherein when the driving component is a servo oil cylinder, the driving component comprises a rolling driving cylinder, a pitching driving cylinder, a rolling auxiliary cylinder and a pitching auxiliary cylinder which are respectively and uniformly distributed around the swing table; in consideration of control precision and control synchronism, a two-cylinder driving and two-cylinder follow-up mode is adopted when single-degree-of-freedom motion and two-degree-of-freedom compound motion are realized, namely two active cylinders are used as active driving mechanisms, and two auxiliary cylinders are used as auxiliary driving mechanisms; the auxiliary cylinder has damping and locking functions to ensure the rigidity and safety of the whole movement, and is not used as a driving mechanism.

3. The servo method of claim 2, wherein when the driving assembly is a servo electric cylinder, the driving assembly comprises a roll cylinder and a pitch cylinder; the servo electric cylinder is driven by a multi-cylinder parallel connection mode, adopts a double-cylinder driving mode, and is driven by a pitching driving cylinder and a rolling driving cylinder without an auxiliary cylinder.

4. The servo method matched with the swing table as claimed in claim 1, wherein the servo electric cylinder is composed of a servo motor, a ball screw, a cylinder barrel, a piston rod, a coupling, a screw rod support and a piston rod guide; a piston rod is placed in the cylinder barrel, a lead screw nut on the ball screw is an installation base of the piston rod, the servo motor rotates to drive the ball screw to rotate, and the rotary motion of the servo motor is converted into the linear motion of the piston rod through the lead screw nut on the ball screw, so that the telescopic motion of the electric cylinder is realized; when the parallel electric cylinder operates, the single-degree-of-freedom motion or the two-degree-of-freedom compound motion of the swing platform is realized.

5. The servo method matched with the swing table as claimed in claim 1, wherein the servo cylinder is an executing or assisting mechanism for the movement of the swing table, the working oil chamber of the servo cylinder is divided into two oil chambers, namely a rodless chamber (without a piston rod end) and a rod chamber (with a piston rod end), and when high-pressure oil is input into one of the two oil chambers (oil input) and oil in the other oil chamber flows back to the oil tank (oil return), the movement of the servo cylinder can be realized; the oil inlet flow is large, and the servo oil cylinder moves quickly; otherwise, it is slow; when the oil inlet and oil return two-cavity oil path is cut off, the servo oil cylinder stops and keeps at the current position; and a displacement sensor is arranged in the servo oil cylinder (or on the outer surface), measures the displacement of the oil cylinder in real time, converts the displacement into an electric signal and sends the electric signal to a servo control system.

6. A servo device matched with a swing table is characterized in that a steel plate is embedded in reinforced concrete, an oil cylinder supporting assembly and a fixed supporting hinge support assembly are fixedly connected with the embedded steel plate through foundation bolts, four dampers are installed on foundations around the fixed supporting hinge support assembly, an upper ear of the fixed supporting hinge support assembly and the dampers form mechanical limit, an oil cylinder lower hinge support assembly is fixedly connected with the oil cylinder supporting assembly through a connecting bolt, the oil cylinder upper hinge support assembly is connected with a heat exchanger frame through a connecting bolt, piston rod ends of a first oil cylinder assembly, a second oil cylinder assembly, a third oil cylinder assembly and a fourth oil cylinder assembly are hinged with the oil cylinder upper hinge support assembly connected with the heat exchanger frame, a cylinder barrel is hinged with the oil cylinder lower hinge support assembly connected with the oil cylinder supporting assembly, the oil cylinder assembly pushes the heat exchanger and the frame to rotate around the fixed supporting hinge support assembly, and the heat exchanger and the frame are hinged on the upper portion of the oil cylinder, The outside of the oil cylinder is welded with a safety support component, each group of oil cylinder support component and the safety support component form a component independently and are of a section bar welded steel structure, reinforcing beam components are connected between the four groups of oil cylinder support components and the four groups of safety support components to enable the four groups of support components to form a whole, an electric cylinder support component and a fixed support hinged support component are fixedly connected with a pre-buried steel plate through foundation bolts to enable the electric cylinder support component and the fixed support hinged support component to be connected with a reinforced concrete foundation into a whole, an electric cylinder lower hinged support component is fixedly connected with the electric cylinder support component through a connecting bolt, the electric cylinder upper hinged support component is connected with a heat exchanger frame through a connecting bolt, the piston rod ends of the first electric cylinder component and the second electric cylinder component are hinged with the electric,

the first electric cylinder assembly and the second electric cylinder assembly are respectively composed of three high-thrust servo electric cylinders, the upper end and the lower end of each electric cylinder are respectively fixed by a first steel plate and a second steel plate to ensure the synchronous extension of the three servo electric cylinders, then the first steel plate and the second steel plate at the upper end and the lower end of each servo electric cylinder are respectively hinged with an upper hinged support assembly and a lower hinged support assembly by bolts, a cylinder barrel is hinged with a lower hinged support assembly of the electric cylinder connected with an electric cylinder support assembly, the electric cylinder assembly pushes a heat exchanger and a frame thereof to rotate, roll and pitch around the fixed support hinged support assembly, the electric cylinder assembly has an emergency band-type brake function, safety support assemblies are welded at the upper parts of the electric cylinder support assemblies and the outer parts of the electric cylinders, each group of electric cylinder support assemblies and the safety support assemblies form assemblies independently, all the electric cylinder support assemblies are profile welded steel structures, and reinforcing beam assemblies are connected between the four, forming the four groups of supporting components into a whole;

the pipeline P, the pipeline T and the pipeline X are respectively connected with a high-pressure pipeline, an oil return pipeline and a control oil pipeline of an external hydraulic oil source, the servo valve is respectively connected with the pipeline P, the pipeline T, the pipeline X, a first cartridge valve core and a second cartridge valve core, the first cartridge valve core is connected with the servo oil cylinder through a pipeline A, and the second cartridge valve core is connected with the servo oil cylinder through a pipeline B; the first cartridge valve core, the first cover plate, the first shuttle valve and the first electromagnetic valve are sequentially connected to form a first cartridge valve suite, and the first cover plate is respectively connected with the pipeline P, the pipeline A and the pipeline T; the second cartridge valve core, the second cover plate, the second shuttle valve and the third electromagnetic valve are sequentially connected to form a second cartridge valve suite, and the second cover plate is respectively connected with the pipeline P, the pipeline B and the pipeline T; the first overflow valve is respectively connected with the pipeline B and the pipeline T, and the second overflow valve is respectively connected with the pipeline A and the pipeline T; the second electromagnetic valve is connected with the throttle valve and the double-hydraulic-control one-way valve in sequence, the double-hydraulic-control one-way valve is connected with the servo oil cylinder through a pipeline A and a pipeline B respectively, and the second electromagnetic valve is connected with a pipeline P and a pipeline T respectively; a pressure measuring joint MP is arranged between the servo valve and the pipeline P, a pressure measuring joint MB is arranged between the first overflow valve and the pipeline B, and a pressure measuring joint MA is arranged between the second overflow valve and the pipeline A.

7. The servo device matched with the swing table as claimed in claim 6, wherein the cartridge valve kit controls the corresponding electromagnetic directional valve to cut off and communicate the oil path, the cartridge valve kit and the servo valve are connected in series to the oil path of the servo cylinder, the servo cylinder can move only after the cartridge valve kit and the oil path of the servo valve are communicated, the servo cylinder can stop when any one of the oil paths is cut off, the oil path is in a cut-off state in case of shutdown, power failure or emergency, the servo cylinder can be locked at the current position, and the swing table does not move relatively when the swing table is stopped.

8. The servo device of claim 7, wherein the cartridge valve assembly is of a symmetrical configuration.

9. The servo device matched with the swing table as claimed in claim 7, wherein the servo electric cylinder is composed of a servo motor, a ball screw, a cylinder barrel, a piston rod, a coupler, a screw rod support and a piston rod guide; a piston rod is placed in the cylinder barrel, a lead screw nut on the ball screw is an installation base of the piston rod, the servo motor rotates to drive the ball screw to rotate, and the rotary motion of the servo motor is converted into the linear motion of the piston rod through the lead screw nut on the ball screw, so that the telescopic motion of the electric cylinder is realized; when the parallel electric cylinder operates, the single-degree-of-freedom motion or the two-degree-of-freedom compound motion of the swing platform is realized.

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