CN113310652A - Electro-hydraulic servo-based large-rigidity test piece testing device for double-array system - Google Patents
Electro-hydraulic servo-based large-rigidity test piece testing device for double-array system Download PDFInfo
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention relates to a large-rigidity test piece testing device of a double-array system based on electro-hydraulic servo, which is characterized in that independent controllers are used for double three-way six-degree-of-freedom vibration tables, and the controllers are communicated by using a real-time shared memory card, so that the single three-way six-degree-of-freedom vibration tables are not influenced by each other in a single working mode, can run simultaneously, and improves the testing efficiency of the system. And under the double array working mode, the two three-way six-degree-of-freedom vibration tables send thrust signals of respective degrees of freedom to the opposite side in real time, and the two controllers obtain additional internal force applied to the test piece between the two vibration tables after the two controllers make a difference between the thrust signals of the respective degrees of freedom of the two vibration tables and the thrust signals of the respective degrees of freedom of the opposite side. After the controller processes and calculates the internal force, the results are respectively superposed on the respective output driving signals, so that the actuator pushes the table top of the vibrating table to perform relative motion along the direction opposite to the direction of generating the internal force. Thereby eliminating the additional internal force applied to the test piece by the two tables and avoiding the damage of the test piece and the instability of system control.
Description
Technical Field
The invention relates to a large-rigidity test piece testing device of a double-array system based on electro-hydraulic servo, and belongs to the technical field of control of electro-hydraulic servo array systems.
Background
The vibration table test is a method for most truly evaluating the nonlinear dynamic response of a structural system, can relatively truly reproduce the seismic process, and is mainly used for verifying the correctness of the anti-seismic design theory, method and calculation model of the structure. At present, the electro-hydraulic servo vibration table test is an important means for structural anti-seismic research and has been widely applied.
The prior vibration table generally has three directions and six degrees of freedom, and a typical structure of the prior vibration table is shown in fig. 1, 4 actuators (numbered: Z1, Z2, Z3 and Z4) are arranged on a table top of the vibration table along the vertical direction Z, 2 actuators (numbered: X1, X2, Y1 and Y2) are arranged on the table top along the horizontal directions X and Y, and the table top can translate along a X, Y, Z axis (namely X, Y, Z degrees of freedom) or rotate around a X, Y, Z axis (namely Roll, Pitch and Yaw degrees of freedom) under the pushing of the 8 actuators. A displacement sensor is installed in each actuator, an acceleration sensor is installed on the vibration table surface, and a data acquisition module of the controller acquires sensor signals and calculates the position and acceleration information of the vibration table in real time.
Due to the limitations of the bearing capacity and the size of the table top of the conventional vibrating table, the test requirements of structures such as large-span bridges and houses are difficult to meet. The current methods for solving the problems are as follows:
1. further reducing the model size. But the vibration table test of the scaled model requires that all parameters meet the similar principle, which is difficult to achieve in practice, and the more the model is scaled, the more the test result is different from the prototype test.
2. The size and the load capacity of the table top of the vibration table are increased. However, the increase of the vibration table inevitably causes the increase of the system construction cost, the maintenance cost and the test cost, the increase of the construction period and the like, and the infinite increase of the scale of the vibration table is not practical.
3. And a vibration array is formed by using double vibration tables or multiple vibration tables. However, the technique has the following limitations:
3.1, when the rigidity of the test piece is large, the small displacement error between the two tables can cause the additional internal force of the test piece, so that the test piece is damaged unexpectedly, and the influence of the factor is not fully considered in the prior art.
3.2, because the two single tables rotate around the respective Y axis and Z axis in the Pitch and Yaw degrees of freedom respectively, the positions of the rotating shafts are different, when the two tables are used in a combined mode, the two tables cannot move synchronously in the two degrees of freedom, and the combined big table only has four degrees of freedom of movement, namely X, Y, Z and Roll.
3.3, prior art generally uses a controller to control a plurality of shaking tables of constituteing the platform array, and when using as single-unit, only can control a single-unit and test in the same time, other single-units are in idle state, have reduced the availability factor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a large-rigidity test piece testing device of a double-array system based on electro-hydraulic servo, and the specific technical scheme is as follows:
the electro-hydraulic servo-based large-rigidity test piece testing device for the double-array system comprises two three-way six-degree-of-freedom vibration tables, an A table controller and a B table controller, wherein the A table controller is used for controlling the first three-way six-degree-of-freedom vibration table to move, the B table controller is used for controlling the second three-way six-degree-of-freedom vibration table to move, each three-way six-degree-of-freedom vibration table comprises a vibration table surface, an X-direction base, an X-direction actuator, a Y-direction base, a Y-direction actuator, a Z-direction base, a Z-direction actuator and a displacement sensor and a pressure sensor, the X-direction actuator, the Y-direction actuator and the Z-direction actuator are arranged between the vibration table surface and the X-direction base and used for loading the X-direction of the vibration table surface, the Y-direction actuator and the Y-direction base and used for loading the Z-direction of the vibration table surface, and the X-direction actuator, the Y-direction actuator and the Z-direction actuator are all internally provided with displacement sensors and pressure sensors, the X-direction actuator, the Y-direction actuator and the Z-direction actuator are all provided with servo valves used for controlling the motion of the actuators, an acceleration sensor is installed at the position of the vibration table, collected signals collected by a displacement sensor, a pressure sensor and the acceleration sensor are transmitted to an A-table controller or a B-table controller, the collected signals are calculated to obtain operation information, the operation information is compared with command signals, the operation information is subjected to secondary operation and D/A conversion, driving signals are output, power amplification is carried out, the driving signals are output to the servo valves, the opening degree of the servo valves is adjusted, and closed-loop control of the three-way six-degree-of-freedom vibration table is achieved.
As an improvement of the technical scheme, when the two three-way six-degree-of-freedom vibration tables work independently, any rigid test piece is not arranged between the two vibration table surfaces, and the A controller and the B controller work independently and do not communicate with each other.
As an improvement of the technical scheme, when two three-dimensional six-degree-of-freedom vibration tables form a table array to work, a rigid test piece is fixedly arranged between the two vibration table surfaces, and the controller A and the controller B are communicated through a real-time shared memory card; the operation information is obtained by calculating the position, the thrust signal and the acceleration information of the corresponding vibration table in real time according to the displacement signal, the pressure signal and the acceleration signal; the command signals of the array are input by the controller A and synchronously output to the controller B, meanwhile, the two three-way six-degree-of-freedom vibration tables send the thrust signals of the degrees of freedom to the opposite side in real time, and the controller A and the controller B perform difference on the thrust signals of the degrees of freedom of the two three-way six-degree-of-freedom vibration tables to obtain additional internal forces which are respectively applied to the test piece by the two three-way six-degree-of-freedom vibration tables; after the processing and operation of the A controller and the B controller, the operation results are respectively superposed on the driving signals output by the corresponding A controller and the B controller, so that the corresponding X-direction actuator/Y-direction actuator/Z-direction actuator pushes the vibration table to perform relative motion along the opposite direction of the generated additional internal force;
the operation formula is as follows:
wherein the content of the first and second substances,C Ai for the values superimposed on the respective degree-of-freedom driving signals of the A three-way six-degree-of-freedom vibration table,C Bi for the values superimposed on the respective degree-of-freedom driving signals of the B three-way six-degree-of-freedom vibration table,G Ai is the adjustment gain of the respective degree of freedom superposition value of the three-way six-degree-of-freedom vibration table A,G Bi the adjustment gain of the respective degree of freedom superposition value of the B three-way six-degree-of-freedom vibration table,F Ai is the thrust value of each degree of freedom synthesized by the A three-way six-degree-of-freedom vibration table,F Bi the three-direction six-degree-of-freedom vibration table A is a first three-direction six-degree-of-freedom vibration table, and the B three-direction six-degree-of-freedom vibration table is a second three-direction six-degree-of-freedom vibration table.
Wherein the displacement of the actuator refers to the displacement value of the X-direction actuator/the Y-direction actuator/the Z-direction actuator,H DA is a decoupling matrix from the freedom displacement of the A-station three-direction six-freedom-degree vibration table to the displacement of the actuator,H DB is a decoupling matrix from the freedom degree displacement of a B-station three-direction six-freedom-degree vibration table to the displacement of an actuator,
the decoupling matrix is a decoupling matrix from the degree of freedom displacement to the displacement of the actuator when the center of the table top is taken as an original point;
is a synthetic matrix from the displacement of an actuator of an A-table three-way six-freedom-degree vibration table to the displacement of freedom degrees,
is a synthetic matrix from the displacement of an actuator of a B-station three-direction six-freedom-degree vibration table to the displacement of freedom degrees,
the actuator is a composite matrix of displacement to freedom degree displacement when the center of the table top is taken as an original point, and the center of the table top is the central point of the vibration table top.
As an improvement of the technical proposal, when two three-way six-degree-of-freedom vibration tables form a table array to work,
the center of the rotating shaft of the array is the midpoint of the connecting line of the centers of the two vibration table surfaces, and the center distance of the two vibration table surfaces is setIs 2lThe decoupling matrix and the synthesis matrix between the degree of freedom displacement and the actuator displacement of the two three-dimensional six-degree-of-freedom vibration tables are as follows:
wherein the displacement of the actuator refers to the displacement value of the X-direction actuator/the Y-direction actuator/the Z-direction actuator,H DA is a decoupling matrix from the freedom displacement of the A-station three-direction six-freedom-degree vibration table to the displacement of the actuator,H DB is a decoupling matrix from the freedom degree displacement of a B-station three-direction six-freedom-degree vibration table to the displacement of an actuator,
to take a point
Is a decoupling matrix of the displacement of the degree of freedom to the displacement of the actuator at the origin,
to take a point
The decoupling matrix is a decoupling matrix from the displacement of the degree of freedom to the displacement of the actuator at the original point;
is a synthetic matrix from the displacement of an actuator of an A-table three-way six-freedom-degree vibration table to the displacement of freedom degrees,
is a synthetic matrix from the displacement of an actuator of a B-station three-direction six-freedom-degree vibration table to the displacement of freedom degrees,
to take a point
Is a composite matrix of the displacement of the actuator to the displacement of the degree of freedom at the original point,
to take a point
The composite matrix of the displacement of the actuator to the displacement of the degree of freedom at the original point.
As an improvement of the technical proposal, the displacement of the vibration table surface in each degree of freedom is respectively set asX D ，Y D ，Z D ，R D ，P D ，W D (ii) a The values of the vibration table in the torsional degree of freedom are respectivelyT D ，V D (ii) a The displacement values of the two X-direction actuators are respectivelyX D1 ，X D2 (ii) a The displacement values of the two Y-direction actuators are respectivelyY D1 ，Y D2 (ii) a The displacement values of the four Z-direction actuators are respectivelyZ D1 ，Z D2 ，Z D3 ，Z D4 (ii) a The distance between the two X-direction actuators is 2l 1 The distance between the two Y-direction actuators is 2l 1 Four Z-direction actuators are arranged at equal intervals, and the distance between every two adjacent Z-direction actuators is 2l 2 ，C x Is the translation distance of the rotating shaft position of the array along the X direction relative to the rotating shaft position taking the center of the original vibration table top as the origin,C y is the translation distance of the position of the rotating shaft of the array along the Y direction relative to the position of the rotating shaft taking the center of the original vibration table top as the original point,C z the translation distance of the position of the rotating shaft of the array along the Z direction relative to the position of the rotating shaft taking the center of the original vibration table top as the original point is determined byX D ，Y D ，Z D ，R D ，P D ，W D ，T D ，V D ToX D1 ，X D2 ，Y D1 ，Y D2 ，Z D1 ，Z D2 ，Z D3 ，Z D4 The decoupling equation of (a) is:
when the rotary shaft of the vibration table top takes the center of the table top of the vibration table top as the origin,
as an improvement of the technical scheme, two X-direction actuators are arranged in the X direction of each three-way six-degree-of-freedom vibration table, two Y-direction actuators are arranged in the Y direction of each three-way six-degree-of-freedom vibration table, and four Z-direction actuators are arranged in the Z direction of each three-way six-degree-of-freedom vibration table.
As an improvement of the above technical solution, the collected signal includes a displacement signal collected by a displacement sensor, a pressure signal collected by a pressure sensor, and an acceleration signal collected by an acceleration sensor.
As an improvement of the above technical scheme, the three-way six-degree-of-freedom vibration table further comprises a first guide rail and a second guide rail, wherein the Z direction is parallel to the first base and the first guide rail in sliding connection, the Z direction is parallel to the sliding direction between the first base and the first guide rail in loading direction of the actuator, the Y direction is parallel to the second actuator and the second guide rail in sliding connection, and the Y direction is parallel to the sliding direction between the actuator and the second guide rail in loading direction of the actuator in X direction.
The invention has the beneficial effects that:
the invention provides a method and a device for solving cooperative control between electro-hydraulic servo vibration tables, aiming at the problem that the electro-hydraulic servo vibration tables cannot meet the structural test requirements of large-span bridges, houses and the like.
The invention uses independent controllers for the two three-way six-degree-of-freedom vibration tables, and the controllers are communicated with each other by using a real-time shared memory card. Therefore, under a single working mode, the single three-dimensional six-degree-of-freedom vibration tables are not affected with each other, can run simultaneously, and improves the system test efficiency. And under the double array working mode, the two three-way six-degree-of-freedom vibration tables send thrust signals of respective degrees of freedom to the opposite side in real time, and the two controllers obtain additional internal force applied to the test piece between the two vibration tables after the two controllers make a difference between the thrust signals of the respective degrees of freedom of the two vibration tables and the thrust signals of the respective degrees of freedom of the opposite side. After the controller processes and calculates the internal force, the results are respectively superposed on the respective output driving signals, so that the actuator pushes the table top of the vibrating table to perform relative motion along the direction opposite to the direction of generating the internal force. Thereby eliminating the additional internal force applied to the test piece by the two tables and avoiding the damage of the test piece and the instability of system control. In addition, the decoupling matrix and the combination between the displacement value to the degree of freedom and the actuator displacement valueIntroducing parameters into a matrix
The center of the rotating shaft controlled by a single table can be modified at will, and synchronous motion of a large table (array) in the degrees of freedom of Pitch (rotating around the Y axis) and Yaw (rotating around the Z axis) can be realized when the double tables are combined.
Drawings
FIG. 1 is a schematic view of an actuator of a conventional three-way six-degree-of-freedom vibration table;
FIG. 2 is a schematic structural diagram of a large-rigidity test piece testing device of a dual-array system based on electro-hydraulic servo;
FIG. 3 is a schematic structural diagram of a single three-dimensional six-degree-of-freedom vibration table according to embodiment 2;
FIG. 4 is a control flow chart of the electro-hydraulic servo-based large-rigidity test piece testing device for the dual-array system in embodiment 2;
FIG. 5 is a schematic structural diagram of a large-rigidity test piece testing device of a dual-array system based on electro-hydraulic servo in embodiment 3;
fig. 6 is a control flow chart of the test device for the large-rigidity test piece of the dual-array system based on the electro-hydraulic servo in embodiment 3.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 in specific cases to those skilled in the art.
Example 1
As shown in fig. 2, the electro-hydraulic servo-based large-rigidity test piece testing device for the dual-array system comprises two three-way six-degree-of-freedom vibration tables, an a table controller and a B table controller, wherein the a table controller is used for controlling the first three-way six-degree-of-freedom vibration table to move, the B table controller is used for controlling the second three-way six-degree-of-freedom vibration table to move, and the three-way six-degree-of-freedom vibration table comprises a vibration table surface, an X-direction base, an X-direction actuator, a Y-direction base, a Y-direction actuator, a Z-direction base and a Z-direction actuator, wherein the X-direction actuator is installed between the vibration table surface and the X-direction base and is used for loading the X direction of the vibration table surface, the Y-direction actuator is installed between the vibration table surface and the Z-direction base and is used for loading the Z direction of the vibration table surface; the X-direction actuator, the Y-direction actuator and the Z-direction actuator are internally provided with displacement sensors and pressure sensors, the X-direction actuator, the Y-direction actuator and the Z-direction actuator are respectively provided with a servo valve for controlling the movement of the X-direction actuator, the Y-direction actuator and the Z-direction actuator, the vibration table top is provided with an acceleration sensor, acquisition signals acquired by the displacement sensors, the pressure sensors and the acceleration sensors are transmitted to a controller A or a controller B, the acquisition signals are calculated to obtain operation information, the operation information is compared with command signals, the operation information is converted into D/A through secondary operation, driving signals are output, power amplification is carried out, the driving signals are output to the servo valves, the opening degree of the servo valves is adjusted, and closed-loop control of the three-way six-degree-of-freedom vibration table is achieved.
In this embodiment, two X-direction actuators are installed in the X-direction of each three-way six-degree-of-freedom vibration table, two Y-direction actuators are installed in the Y-direction of each three-way six-degree-of-freedom vibration table, and four Z-direction actuators are installed in the Z-direction of each three-way six-degree-of-freedom vibration table.
The X-direction actuator, the Y-direction actuator and the Z-direction actuator are all actuators based on electro-hydraulic servo, and in the embodiment, the total number of the actuators is 8; the designations of the X-direction actuator, the Y-direction actuator and the Z-direction actuator are distinguished based on the installation position and the application of the actuators.
In this embodiment, the collected signal includes a displacement signal collected by a displacement sensor, a pressure signal collected by a pressure sensor, and an acceleration signal collected by an acceleration sensor. The data acquisition module is integrated in the A controller/the B controller.
For a single three-way six-degree-of-freedom vibration table, the vibration table can be translated along the X, Y, Z axis/direction or rotated around the X/Y/Z axis (Roll, Pitch, Yaw) under the push of 8 actuators. And a displacement sensor and a pressure sensor are arranged in each actuator, and an acceleration sensor is arranged on the vibration table surface. The A-station controller and the B-station controller are both controllers for controlling the motion of the three-way six-degree-of-freedom vibration table, and are named as the A-station controller and the B-station controller respectively only based on the purpose of distinguishing.
Example 2
When the two three-way six-degree-of-freedom vibration tables work independently, any rigid test piece is not arranged between the two vibration tables, and the A controller and the B controller work independently and do not communicate with each other.
As shown in the figures 2-4, the two three-way six-degree-of-freedom vibration tables are not connected, and each vibration table is controlled by the A controller or the B controller to move without mutual influence. The command signals of the A table in the figure 4 correspond to the A table three-way six-degree-of-freedom vibration table, namely the first three-way six-degree-of-freedom vibration table, and the B table three-way six-degree-of-freedom vibration table, namely the second three-way six-degree-of-freedom vibration table. In fig. 4, a driving signal a, a servo valve a, an actuator a, a table a (a table of a three-way six-degree-of-freedom vibration table), an acceleration signal a, a displacement signal a, and a pressure signal a are all matched with the a three-way six-degree-of-freedom vibration table. Similarly, the driving signal B, the servo valve B, the actuator B, the table B (the table of the B three-way six-degree-of-freedom vibration table), the acceleration signal B, the displacement signal B and the pressure signal B are matched with the B three-way six-degree-of-freedom vibration table.
When the two three-way six-degree-of-freedom vibration tables work independently, decoupling matrixes and synthesis matrixes between the degree-of-freedom displacement of the two three-way six-degree-of-freedom vibration tables and the displacement of the actuator are as follows:
wherein the displacement of the actuator refers to the displacement value of the X-direction actuator/the Y-direction actuator/the Z-direction actuator,H DA is a decoupling matrix from the freedom displacement of the A-station three-direction six-freedom-degree vibration table to the displacement of the actuator,H DB is a decoupling matrix from the freedom degree displacement of a B-station three-direction six-freedom-degree vibration table to the displacement of an actuator,
the decoupling matrix is a decoupling matrix from the degree of freedom displacement to the displacement of the actuator when the center of the table top is taken as an original point;
is a synthetic matrix from the displacement of an actuator of an A-table three-way six-freedom-degree vibration table to the displacement of freedom degrees,
is a synthetic matrix from the displacement of an actuator of a B-station three-direction six-freedom-degree vibration table to the displacement of freedom degrees,
is a composite matrix of actuator displacement to degree of freedom displacement when the center of the table top is taken as the original point, and the center of the table top is the center of the vibration table topAnd (4) point.
Example 3
As shown in fig. 5 and 6, when two three-way six-degree-of-freedom vibration tables form a table array to work, a rigid test piece is fixedly installed between the two vibration table surfaces, and the controller a and the controller B communicate with each other through a real-time shared memory card; the operation information is obtained by calculating the position, the thrust signal and the acceleration information of the corresponding vibration table in real time according to the displacement signal, the pressure signal and the acceleration signal; the command signals of the array are input by the A controller and synchronously output to the B controller, meanwhile, the two three-way six-degree-of-freedom vibration tables send respective freedom degree thrust signals to the opposite side in real time, and the A controller and the B controller perform difference on the respective freedom degree thrust signals of the two three-way six-degree-of-freedom vibration tables to obtain additional internal forces applied to the test piece by the two three-way six-degree-of-freedom vibration tables. In order to eliminate the internal force, the internal force is processed and calculated, after the processing and calculation of the A-station controller and the B-station controller, the calculation results are respectively superposed on the driving signals output by the corresponding A-station controller and the B-station controller, so that the corresponding X-direction actuator/Y-direction actuator/Z-direction actuator pushes the vibration table to perform relative motion along the opposite direction of the generated additional internal force.
The operation formula is as follows:
wherein the content of the first and second substances,C Ai for the values superimposed on the respective degree-of-freedom driving signals of the A three-way six-degree-of-freedom vibration table,C Bi for the values superimposed on the respective degree-of-freedom driving signals of the B three-way six-degree-of-freedom vibration table,G Ai is the adjustment gain of the respective degree of freedom superposition value of the three-way six-degree-of-freedom vibration table A,G Bi the adjustment gain of the respective degree of freedom superposition value of the B three-way six-degree-of-freedom vibration table,F Ai is the thrust value of each degree of freedom synthesized by the A three-way six-degree-of-freedom vibration table,F Bi the thrust value of the degree of freedom of each of the B three-way six-degree-of-freedom vibration tables is synthesized, and the A three-way six-freedom vibration table is synthesizedThe freedom degree vibration table is a first three-way six-freedom-degree vibration table, and the freedom degree vibration table B is a second three-way six-freedom-degree vibration table.
Firstly, a rigid test piece is fixedly arranged between the two vibration table surfaces, and the requirement of rigid connection in fig. 5 is met. The flexible connecting piece cannot be arranged between the two vibration table tops, and the use of the flexible connecting piece can cause all internal forces between the two vibration table tops to be transmitted through the test piece, so that the test piece is damaged unexpectedly.
In the embodiment, when two three-way six-degree-of-freedom vibration tables form an array to work,
the center of the rotating shaft of the array is the midpoint of the connecting line of the centers of the two vibration table surfaces, and the distance between the centers of the two vibration table surfaces is 2lThe decoupling matrix and the synthesis matrix between the degree of freedom displacement and the actuator displacement of the two three-dimensional six-degree-of-freedom vibration tables are as follows:
wherein the displacement of the actuator refers to the displacement value of the X-direction actuator/the Y-direction actuator/the Z-direction actuator,H DA is a decoupling matrix from the freedom displacement of the A-station three-direction six-freedom-degree vibration table to the displacement of the actuator,H DB is a decoupling matrix from the freedom degree displacement of a B-station three-direction six-freedom-degree vibration table to the displacement of an actuator,
to take a point
Is a decoupling matrix of the displacement of the degree of freedom to the displacement of the actuator at the origin,
to take a point
Decoupling moment from degree of freedom displacement to actuator displacement at originArraying;
is a synthetic matrix from the displacement of an actuator of an A-table three-way six-freedom-degree vibration table to the displacement of freedom degrees,
is a synthetic matrix from the displacement of an actuator of a B-station three-direction six-freedom-degree vibration table to the displacement of freedom degrees,
to take a point
Is a composite matrix of the displacement of the actuator to the displacement of the degree of freedom at the original point,
to take a point
The composite matrix of the displacement of the actuator to the displacement of the degree of freedom at the original point.
The displacement of the vibration table surface at each degree of freedom is respectively set asX D ，Y D ，Z D ，R D ，P D ，W D (ii) a The values of the vibration table in the torsional degree of freedom are respectivelyT D ，V D (ii) a The displacement values of the two X-direction actuators are respectivelyX D1 ，X D2 (ii) a The displacement values of the two Y-direction actuators are respectivelyY D1 ，Y D2 (ii) a The displacement values of the four Z-direction actuators are respectivelyZ D1 ，Z D2 ，Z D3 ，Z D4 (ii) a The distance between the two X-direction actuators is 2l 1 The distance between the two Y-direction actuators is 2l 1 The four Z-direction actuators are equal to each otherThe distance is set, and the distance between two adjacent Z-direction actuators is 2l 2 ，C x Is the translation distance of the rotating shaft position of the array along the X direction relative to the rotating shaft position taking the center of the original vibration table top as the origin,C y is the translation distance of the position of the rotating shaft of the array along the Y direction relative to the position of the rotating shaft taking the center of the original vibration table top as the original point,C z the translation distance of the position of the rotating shaft of the array along the Z direction relative to the position of the rotating shaft taking the center of the original vibration table top as the original point is determined byX D ，Y D ，Z D ，R D ，P D ，W D ，T D ，V D ToX D1 ，X D2 ，Y D1 ，Y D2 ，Z D1 ，Z D2 ，Z D3 ，Z D4 The decoupling equation of (a) is:
when the rotary shaft of the vibration table top takes the center of the table top of the vibration table top as the origin,
the conventional decoupling method can only carry out the motion of six degrees of freedom of X, Y, Z, Roll, Pitch and Yaw by taking the center of a single table top as an origin, and because the origins of motion coordinate systems of A, B two three-way six-degree-of-freedom vibration tables are different, a table array (formed along the X direction) formed by the two three-way six-degree-of-freedom vibration tables cannot carry out the integral motion in the Pitch and Yaw degrees of freedom. The decoupling method can set the motion centers of A, B two three-way six-degree-of-freedom vibration tables to the same point (the midpoint of the connecting line of the table centers of A, B two three-way six-degree-of-freedom vibration tables), so that the formed table array can perform integral motion in six degrees of freedom by taking the point as the origin.
Example 4
The three-way six-degree-of-freedom vibration table further comprises a first guide rail and a second guide rail, wherein Z is parallel to the sliding direction between the base and the first guide rail in a sliding mode and the loading direction of the actuator in an X mode, Y is parallel to the sliding direction between the actuator and the second guide rail in a sliding mode and the sliding direction between the actuator and the second guide rail in a Y mode and the loading direction of the actuator in an X mode.
Firstly, in the test process, the Z-direction base is fixedly connected with the first guide rail through bolts in a sliding mode, and the Y-direction actuator is fixedly connected with the second guide rail through bolts. When the distance between the two three-way six-degree-of-freedom vibration tables is required to be adjusted according to the length of the rigid test piece, due to the design that the Z-direction base is in sliding connection with the first guide rail, the sliding direction between the Z-direction base and the first guide rail is parallel to the loading direction of the X-direction actuator, the Y-direction actuator is in sliding connection with the second guide rail, the sliding direction between the Y-direction actuator and the second guide rail is parallel to the loading direction of the X-direction actuator, the distance between the two three-way six-degree-of-freedom vibration tables is convenient to adjust according to the length of the rigid test piece, after the adjustment is finished, the Z-direction base is in sliding connection with the first guide rail through bolts, and the Y-direction actuator is in bolt fixed connection with the second guide rail through bolts.
The sliding connection adopts a connection mode that a dovetail groove is matched with a dovetail-shaped lug, so that the stability and the accuracy of the sliding connection are ensured.
In the above embodiment, the present invention uses independent controllers for two three-dimensional six-degree-of-freedom vibration tables, and the controllers communicate with each other using a real-time shared memory card. Therefore, under a single working mode, the single three-dimensional six-degree-of-freedom vibration tables are not affected with each other, can run simultaneously, and improves the system test efficiency. And under the double array working mode, the two three-way six-degree-of-freedom vibration tables send thrust signals of respective degrees of freedom to the opposite side in real time, and the two controllers obtain additional internal force applied to the test piece between the two vibration tables after the two controllers make a difference between the thrust signals of the respective degrees of freedom of the two vibration tables and the thrust signals of the respective degrees of freedom of the opposite side. After the controller processes and calculates the internal force, the results are respectively superposed on the respective output driving signals, so that the actuator pushes the table top of the vibrating table to perform relative motion along the direction opposite to the direction of generating the internal force. Thereby eliminating the additional internal force applied to the test piece by the two tables and avoiding the damage of the test piece and the instability of system control. In addition, parameters are introduced into the decoupling matrix and the composite matrix between the displacement value of the degree of freedom and the displacement value of the actuator
The center of the rotating shaft controlled by a single table can be modified at will, and the synchronous motion of the large table (array) in the freedom degrees of Pitch (rotating around the Y axis) and Yaw (rotating around the Z axis) can be realized when the double tables are combined.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. The electro-hydraulic servo-based large-rigidity test piece testing device for the double-array system is characterized by comprising two three-way six-degree-of-freedom vibration tables, an A table controller and a B table controller, wherein the A table controller is used for controlling the first three-way six-degree-of-freedom vibration table to move, the B table controller is used for controlling the second three-way six-degree-of-freedom vibration table to move, each three-way six-degree-of-freedom vibration table comprises a vibration table surface, an X-direction base, an X-direction actuator, a Y-direction base, a Y-direction actuator, a Z-direction base and a Z-direction actuator, the Y-direction actuator is arranged between the vibration table surface and the Y-direction base and is used for loading the X-direction of the vibration table surface, the Y-direction actuator is arranged between the vibration table surface and the Z-direction base and is used for loading the Z-direction of the vibration table surface, and the X-direction actuator, the Y-direction actuator and the Z-direction actuator are internally provided with a displacement sensor and a pressure sensor, the X-direction actuator, the Y-direction actuator and the Z-direction actuator are all provided with servo valves used for controlling the motion of the actuators, an acceleration sensor is installed at the position of the vibration table, collected signals collected by a displacement sensor, a pressure sensor and the acceleration sensor are transmitted to an A-table controller or a B-table controller, the collected signals are calculated to obtain operation information, the operation information is compared with command signals, the operation information is subjected to secondary operation and D/A conversion, driving signals are output, power amplification is carried out, the driving signals are output to the servo valves, the opening degree of the servo valves is adjusted, and closed-loop control of the three-way six-degree-of-freedom vibration table is achieved.
2. The electro-hydraulic servo-based large-rigidity test piece testing device for the dual-array system as claimed in claim 1, wherein when the two three-way six-degree-of-freedom vibration tables work independently, no rigid test piece is mounted between the two vibration tables, and the controller A and the controller B work independently and do not communicate with each other.
3. The electro-hydraulic servo-based large-rigidity test piece testing device for the dual-array system as claimed in claim 1, wherein when two three-way six-degree-of-freedom vibration tables form an array to work, a rigid test piece is fixedly installed between the two vibration tables, and the controller A and the controller B are communicated through a real-time shared memory card; the operation information is obtained by calculating the position, the thrust signal and the acceleration information of the corresponding vibration table in real time according to the displacement signal, the pressure signal and the acceleration signal; the command signals of the array are input by the controller A and synchronously output to the controller B, meanwhile, the two three-way six-degree-of-freedom vibration tables send the thrust signals of the degrees of freedom to the opposite side in real time, and the controller A and the controller B perform difference on the thrust signals of the degrees of freedom of the two three-way six-degree-of-freedom vibration tables to obtain additional internal forces which are respectively applied to the test piece by the two three-way six-degree-of-freedom vibration tables; after the processing and operation of the A controller and the B controller, the operation results are respectively superposed on the driving signals output by the corresponding A controller and the B controller, so that the corresponding X-direction actuator/Y-direction actuator/Z-direction actuator pushes the vibration table to perform relative motion along the opposite direction of the generated additional internal force;
the operation formula is as follows:
wherein the content of the first and second substances,C Ai for the values superimposed on the respective degree-of-freedom driving signals of the A three-way six-degree-of-freedom vibration table,C Bi for the values superimposed on the respective degree-of-freedom driving signals of the B three-way six-degree-of-freedom vibration table,G Ai is the adjustment gain of the respective degree of freedom superposition value of the three-way six-degree-of-freedom vibration table A,G Bi the adjustment gain of the respective degree of freedom superposition value of the B three-way six-degree-of-freedom vibration table,F Ai is the thrust value of each degree of freedom synthesized by the A three-way six-degree-of-freedom vibration table,F Bi the three-direction six-degree-of-freedom vibration table A is a first three-direction six-degree-of-freedom vibration table, and the B three-direction six-degree-of-freedom vibration table is a second three-direction six-degree-of-freedom vibration table.
4. The electro-hydraulic servo-based large-rigidity test piece testing device for the dual-array system as claimed in claim 2, wherein when the two three-way six-degree-of-freedom vibration tables work independently, decoupling matrixes and synthesis matrixes between the degree-of-freedom displacement of the two three-way six-degree-of-freedom vibration tables and the displacement of the actuator are respectively as follows:
wherein the displacement of the actuator refers to the displacement value of the X-direction actuator/the Y-direction actuator/the Z-direction actuator,H DA is a decoupling matrix from the freedom displacement of the A-station three-direction six-freedom-degree vibration table to the displacement of the actuator,H DB is a decoupling matrix from the freedom degree displacement of a B-station three-direction six-freedom-degree vibration table to the displacement of an actuator,
the decoupling matrix is a decoupling matrix from the degree of freedom displacement to the displacement of the actuator when the center of the table top is taken as an original point;
is a synthetic matrix from the displacement of an actuator of an A-table three-way six-freedom-degree vibration table to the displacement of freedom degrees,
is a synthetic matrix from the displacement of an actuator of a B-station three-direction six-freedom-degree vibration table to the displacement of freedom degrees,
the actuator is a composite matrix of displacement to freedom degree displacement when the center of the table top is taken as an original point, and the center of the table top is the central point of the vibration table top.
5. The electro-hydraulic servo-based large-rigidity test piece testing device for the dual-array system as claimed in claim 3, wherein when two three-way six-degree-of-freedom vibration tables form an array to work,
the center of the rotating shaft of the array is the midpoint of the connecting line of the centers of the two vibration table surfaces, and the distance between the centers of the two vibration table surfaces is 2lThe decoupling matrix and the synthesis matrix between the degree of freedom displacement and the actuator displacement of the two three-dimensional six-degree-of-freedom vibration tables are as follows:
wherein the displacement of the actuator refers to the displacement value of the X-direction actuator/the Y-direction actuator/the Z-direction actuator,H DA is a decoupling matrix from the freedom displacement of the A-station three-direction six-freedom-degree vibration table to the displacement of the actuator,H DB is a decoupling matrix from the freedom degree displacement of a B-station three-direction six-freedom-degree vibration table to the displacement of an actuator,
to take a point
Is a decoupling matrix of the displacement of the degree of freedom to the displacement of the actuator at the origin,
to take a point
The decoupling matrix is a decoupling matrix from the displacement of the degree of freedom to the displacement of the actuator at the original point;
is a synthetic matrix from the displacement of an actuator of an A-table three-way six-freedom-degree vibration table to the displacement of freedom degrees,
actuator displacement for B-station three-direction six-degree-of-freedom vibration tableTo a composite matrix of the displacements in degrees of freedom,
to take a point
Is a composite matrix of the displacement of the actuator to the displacement of the degree of freedom at the original point,
to take a point
The composite matrix of the displacement of the actuator to the displacement of the degree of freedom at the original point.
6. The electro-hydraulic servo-based test device for the large-rigidity test piece of the dual-array system according to claim 5, wherein the displacements of the vibration table surfaces in the degrees of freedom are respectively set asX D ，Y D ，Z D ，R D ，P D ，W D (ii) a The values of the vibration table in the torsional degree of freedom are respectivelyT D ，V D (ii) a The displacement values of the two X-direction actuators are respectivelyX D1 ，X D2 (ii) a The displacement values of the two Y-direction actuators are respectivelyY D1 ，Y D2 (ii) a The displacement values of the four Z-direction actuators are respectivelyZ D1 ，Z D2 ，Z D3 ，Z D4 (ii) a The distance between the two X-direction actuators is 2l 1 The distance between the two Y-direction actuators is 2l 1 Four Z-direction actuators are arranged at equal intervals, and the distance between every two adjacent Z-direction actuators is 2l 2 ，C x The position of the rotating shaft of the array is opposite to the position of the rotating shaft taking the center of the original vibration table top as the original pointPlacing the translation distance along the X direction,C y is the translation distance of the position of the rotating shaft of the array along the Y direction relative to the position of the rotating shaft taking the center of the original vibration table top as the original point,C z the translation distance of the position of the rotating shaft of the array along the Z direction relative to the position of the rotating shaft taking the center of the original vibration table top as the original point is determined byX D ，Y D ，Z D ，R D ，P D ，W D ，T D ，V D ToX D1 ，X D2 ，Y D1 ，Y D2 ，Z D1 ，Z D2 ，Z D3 ，Z D4 The decoupling equation of (a) is:
byX D ，Y D ，Z D ，R D ，P D ，W D ，T D ，V D ToX D1 ，X D2 ，Y D1 ，Y D2 ，Z D1 ，Z D2 ，Z D3 ，Z D4 The decoupling matrix of (a) is:
from XD1，XD2，YD1，YD2，ZD1，ZD2，ZD3，ZD4To XD，YD，ZD，RD，PD，WD，TD，VDThe composite matrix of (a) is:
when the rotary shaft of the vibration table top takes the center of the table top of the vibration table top as the origin,
7. the electro-hydraulic servo-based large-rigidity test piece testing device for the double-array system as claimed in claim 1, wherein two X-direction actuators are mounted in the X direction of each three-way six-degree-of-freedom vibration table, two Y-direction actuators are mounted in the Y direction of each three-way six-degree-of-freedom vibration table, and four Z-direction actuators are mounted in the Z direction of each three-way six-degree-of-freedom vibration table.
8. The electro-hydraulic servo-based large-rigidity test piece testing device for the dual-array system as claimed in claim 1, wherein the collected signals comprise displacement signals collected by a displacement sensor, pressure signals collected by a pressure sensor and acceleration signals collected by an acceleration sensor.
9. The electro-hydraulic servo-based large-rigidity test piece testing device for the dual-array system, as claimed in claim 1, wherein the three-way six-degree-of-freedom vibration table further comprises a first guide rail and a second guide rail, the Z-direction base is slidably connected with the first guide rail, the sliding direction between the Z-direction base and the first guide rail is parallel to the loading direction of the X-direction actuator, the Y-direction actuator is slidably connected with the second guide rail, and the sliding direction between the Y-direction actuator and the second guide rail is parallel to the loading direction of the X-direction actuator.
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