CN113341766B - Electro-hydraulic load simulator with adjustable loading and disturbance eliminating arm length - Google Patents
Electro-hydraulic load simulator with adjustable loading and disturbance eliminating arm length Download PDFInfo
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- CN113341766B CN113341766B CN202110649950.7A CN202110649950A CN113341766B CN 113341766 B CN113341766 B CN 113341766B CN 202110649950 A CN202110649950 A CN 202110649950A CN 113341766 B CN113341766 B CN 113341766B
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- 230000007246 mechanism Effects 0.000 claims abstract description 27
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- 230000003287 optical effect Effects 0.000 claims description 10
- 238000004088 simulation Methods 0.000 abstract description 3
- 230000004044 response Effects 0.000 abstract description 2
- 238000005265 energy consumption Methods 0.000 abstract 1
- 230000006641 stabilisation Effects 0.000 abstract 1
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- 238000010586 diagram Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
An electrohydraulic load simulator with adjustable loading and disturbance eliminating arm length belongs to the field of semi-physical simulation, and is mainly used for simulating loads borne by ships, aircraft steering engines and the like under different working conditions under laboratory conditions, and comprises a frame, an arm length adjustable lever, a steering engine valve control cylinder system, a loading valve control cylinder system and a valve control cylinder system for adjusting the arm length of the lever; the steering engine valve control cylinder system generates displacement under a given signal, the loading valve control cylinder system applies loading force to the steering engine system after receiving the combined action of the steering engine system displacement signal and the self feedback signal, and the valve control cylinder system for adjusting the arm length of the lever can adjust the position of the lever fulcrum to adjust the length of the loading and disturbance eliminating arm; the invention mainly adopts a lever mechanism with adjustable loading and disturbance eliminating arm length to reduce the strong disturbance displacement generated on the piston rod of the loading cylinder by the active movement of the piston rod of the hydraulic cylinder of the steering engine system, weaken the redundant force generated by the forced flow caused by the strong disturbance displacement in the loading cylinder, and simultaneously adjust the position of a lever fulcrum in the system stabilization stage so as to lead the arm of force of the loading system to be increased, thereby achieving the purposes of saving labor and energy consumption; the electrohydraulic servo system is adopted, so that the bearing capacity is high, the degree of automation is high, the response speed of the system is high, the loading precision is high, and the power-volume ratio is large.
Description
Technical Field
The invention relates to the field of semi-physical simulation, in particular to an electrohydraulic load simulator with adjustable loading and disturbance arm length.
Background
The electrohydraulic load simulator belongs to an electrohydraulic (moment) servo system and is a typical position disturbance type passive loading system, can simulate the force (moment) load of a bearing object under laboratory conditions, is most widely applied to the fields of ship steering engines, aircraft steering engines and the like, has great practical significance for researching high-performance electrohydraulic load simulators, and has profound influence and economic value on the fields of industrial production and development of hydraulic systems and components.
The existing load simulation technology has the following defects: in the working process of the electrohydraulic load simulator, the loading system must accurately track the loading instruction signal while following the movement of the bearing object, and the active movement of the bearing object inevitably causes the internal surplus force of the loading system, so that the loading performance of the loading system is seriously affected, especially when the electrohydraulic load simulator is started and commutated, the surplus force is most serious, the loading precision is insufficient, and the loading is laborious and energy is wasted during normal loading.
Disclosure of Invention
In order to solve the problems, the invention provides an electrohydraulic load simulator with adjustable loading and disturbance arm length.
In order to achieve the above purpose, the present invention provides the following technical solutions: the invention discloses an electrohydraulic load simulator with adjustable loading and disturbance arm length, which comprises a frame (1), a steering engine valve control cylinder device (2), a loading valve control cylinder device (3), a valve control cylinder device (4) for adjusting the arm length fulcrum of a lever and an arm length adjustable lever (5), and is characterized in that: the steering engine valve control cylinder device (2) outputs displacement under a given signal, the loading valve control cylinder device (3) receives the combined action of a steering engine system piston rod displacement signal and a self feedback signal, and then applies loading force to the steering engine system, the steering engine system and the loading valve control cylinder device transmit displacement and force through an arm length adjustable lever (5), a valve control cylinder device (4) for adjusting a lever arm fulcrum can adjust the lever fulcrum position, and in the starting and reversing stage of the steering engine, the fulcrum position is moved to the right through the adjusting valve control cylinder (4), so that forced displacement generated on the loading cylinder piston rod by the active motion of a steering engine valve control cylinder device (2) hydraulic cylinder piston rod can be weakened, and the internal redundant force of the system generated by forced flow in the loading cylinder is weakened, thereby achieving the purpose of reducing the redundant force; in the steady operation stage of the steering engine, the valve control cylinder device (4) for adjusting the fulcrum of the lever arm of force makes the fulcrum of the lever move leftwards, so that the arm of force at one end of the loading valve control cylinder device (3) is increased, the output is reduced in the loading process, and the purpose of saving the system power is achieved.
The hydraulic steering engine is characterized in that a threaded hole, a first connecting piece (101) and a second connecting piece (102) are arranged on the frame (1), the threaded hole is used for fixedly connecting the frame with the ground, the first connecting piece (101) is used for fixedly connecting the frame with a piston rod of a valve control cylinder device (4) for adjusting a lever arm fulcrum, the second connecting piece (102) is used for hinging the frame with a cylinder barrel of a steering engine valve control cylinder device (2), and the frame is hinged with a cylinder barrel of a loading valve control cylinder device (3).
The steering engine valve control cylinder device (2) comprises a steering engine device hydraulic cylinder (201), a steering engine device electrohydraulic servo valve (202) and a steering engine device displacement sensor (203), wherein hinge holes are formed in two ends of a piston rod of the hydraulic cylinder and are used for being hinged with a lever cross beam (501) of an arm length adjustable lever (5).
The loading device of the loading valve control cylinder device (3) comprises a hydraulic cylinder (301), a loading device electrohydraulic servo valve (302) and a loading device force sensor (303), wherein hinge holes are formed at two ends of a piston rod of the hydraulic cylinder and are used for being hinged with a lever cross beam (501) of an arm length adjustable lever (5).
The valve control cylinder device (4) for adjusting the fulcrum of the lever arm comprises an adjusting fulcrum mechanism hydraulic cylinder (401), an adjusting fulcrum mechanism electrohydraulic servo valve (402) and an adjusting fulcrum mechanism displacement sensor (403), wherein hinge holes are formed in two ends of a piston rod of the adjusting fulcrum mechanism hydraulic cylinder (401) and are used for being hinged with a first connecting piece (101) on a frame (1), the purpose of fixedly connecting with the ground is achieved, a base is arranged on a cylinder barrel of the adjusting fulcrum mechanism hydraulic cylinder (401), and the cylinder barrel can be driven to slide along the piston rod in the frame.
The lever (5) with the adjustable arm length comprises a lever cross beam (501), a fulcrum block (502), an optical axis (503), a force frame (504) and a cylindrical rod piece (505), wherein hinge holes are formed at two ends of the lever cross beam (501) and are used for being hinged with piston rods of the steering engine valve control cylinder device (2) and the loading valve control cylinder device (3); the fulcrum piece (502) is provided with a through hole, the fulcrum piece is connected with the force frame (504) through an optical axis (503) pin, the fulcrum piece (502) can rotate around the optical axis (503), the force frame (504) can slide along the frame, meanwhile, the fulcrum piece is connected with a cylindrical rod piece (505) pin, a threaded hole connecting piece is arranged at the root of the cylindrical rod piece (505) and is used for being connected with a hydraulic cylinder barrel base of a valve control cylinder device (4) for adjusting a lever arm fulcrum in a threaded manner, and the purpose that the force frame (504) drives the fulcrum piece (502) to move along with a cylinder barrel of an adjusting fulcrum mechanism hydraulic cylinder (401) of the valve control cylinder device (4) for adjusting the lever arm fulcrum is achieved.
Compared with the prior art, the invention has the beneficial effects that: in the starting and reversing stage of the steering engine system, the fulcrum position of the lever (5) with adjustable arm length is adjusted to enable the arm of force on one side of the steering engine hydraulic cylinder to be increased so as to weaken the forced displacement generated by the active movement of the piston rod of the steering engine system hydraulic cylinder on the piston rod of the loading cylinder and weaken the internal redundant force of the system generated by the forced flow in the loading cylinder; in the steady operation stage of the steering engine system, the fulcrum position of the lever (5) with adjustable arm length is adjusted, so that the arm of force at one side of the loading hydraulic cylinder is increased, the purpose of saving labor is achieved, and the system power is saved; the whole process adopts an electrohydraulic servo system, the bearing capacity of the system is high, the degree of automation is high, the response speed of the system is high, the loading precision is high, and the power volume ratio is large.
Drawings
FIG. 1 is an isometric view of an electrohydraulic load simulator with adjustable loading and cancellation arm length in accordance with the present invention.
FIG. 2 is a front view of an electro-hydraulic load simulator with adjustable loading and cancellation arm length in accordance with the present invention.
Fig. 3 is a top view of an electro-hydraulic load simulator with adjustable loading and cancellation arm length in accordance with the present invention.
Fig. 4 is an exploded view of an adjustable fulcrum mechanism of an electro-hydraulic load simulator with adjustable loading and disturbance arm length according to the present invention.
FIG. 5 is a working diagram of the startup and commutation phase of an electrohydraulic load simulator with adjustable loading and cancellation arm length according to the present invention.
FIG. 6 is a motion plateau diagram of an electrohydraulic load simulator with adjustable loading and disturbance arm length according to the present invention.
Fig. 7 is a hydraulic schematic diagram of an electrohydraulic load simulator with adjustable loading and disturbance arm length according to the present invention.
Reference numerals illustrate: 1. a frame; 2. steering engine valve control cylinder device; 3. loading a valve control cylinder device; 4. a valve cylinder device for adjusting the fulcrum of the lever arm; 5. lever mechanism with adjustable arm length; 101. a first connector; 102. a second connector; 201. steering engine device hydraulic cylinder; 202. electrohydraulic servo valve of steering engine device; 203. a steering engine device displacement sensor; 301. a loading device hydraulic cylinder; 302. an electrohydraulic servo valve of the loading device; 303. loading a device force sensor; 401. adjusting a hydraulic cylinder of a fulcrum mechanism; 402. adjusting an electrohydraulic servo valve of a fulcrum mechanism; 403. adjusting a fulcrum mechanism displacement sensor; 501. a lever beam; 502. a lever fulcrum block; 503. an optical axis; 504. a force frame; 505. a cylindrical rod member; 601. an oil tank; 602. an oil filter; 603. a fixed displacement pump; 604. an overflow valve; 605. a pressure gauge; 606. a one-way valve; 607. and a controller.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are included in the protection scope of the present invention.
Referring to fig. 1, 2, 5 and 6, the invention discloses an electrohydraulic load simulator with adjustable loading and disturbance arm length, which comprises a frame (1), a steering engine valve control cylinder device (2), a loading valve control cylinder device (3), a valve control cylinder device (4) for adjusting the arm length fulcrum of a lever and an arm length adjustable lever (5), wherein the steering engine valve control cylinder device (2), the loading valve control cylinder device (3) and the valve control cylinder device (4) are arranged on the frame (1); the steering engine valve control cylinder device (2) outputs displacement under a given signal, the loading valve control cylinder device (3) receives the combined action of a steering engine cylinder displacement signal and a self feedback signal, and then applies loading force to a steering engine system, the steering engine system and the loading valve control cylinder device transmit displacement and force through an arm length adjustable lever (5), a valve control cylinder device (4) for adjusting a lever arm fulcrum can adjust the lever fulcrum position, and in the starting and reversing stage of the steering engine, the valve control cylinder device (4) for adjusting the lever arm fulcrum enables the fulcrum position to move to the right, so that forced displacement generated on a loading cylinder piston rod by the active motion of a hydraulic cylinder piston rod of the steering engine valve control cylinder device (2) can be weakened, and system internal redundant force generated by forced flow in the loading cylinder can be weakened; in the steady operation stage of the steering engine, the lever fulcrum is moved leftwards by the adjusting valve control cylinder (4), so that the output of the loading valve control cylinder device (3) is reduced, and the aim of saving the system power is fulfilled.
Referring to fig. 1 and 2, a threaded hole, a first connecting piece (101) and a second connecting piece (102) are arranged on a frame (1), the threaded hole is used for fixedly connecting the frame with the ground, the first connecting piece (101) is used for fixedly connecting the frame with a piston rod of a valve control cylinder device (4) for adjusting a lever arm fulcrum, the second connecting piece (102) is used for hinging the frame with a cylinder barrel of a steering engine valve control cylinder device (2), and the frame is hinged with a cylinder barrel of a loading valve control cylinder device (3).
Referring to fig. 2, the steering engine valve control cylinder device (2) comprises a steering engine device hydraulic cylinder (201), a steering engine device electrohydraulic servo valve (202) and a steering engine device displacement sensor (203), wherein hinge holes are formed at two ends of a piston rod of the hydraulic cylinder and are used for being hinged with a lever cross beam (501) of an arm length adjustable lever (5).
Referring to fig. 2, the loading valve cylinder device (3) includes a loading device hydraulic cylinder (301), a loading device electrohydraulic servo valve (302), and a loading device force sensor (303), wherein two ends of a hydraulic cylinder piston rod are provided with hinge holes for hinging with a lever cross beam (501) of an arm length adjustable lever (5).
Referring to fig. 2 and 3, the valve control cylinder device (4) for adjusting the fulcrum of the lever arm comprises an adjusting fulcrum mechanism hydraulic cylinder (401), an adjusting fulcrum mechanism electrohydraulic servo valve (402) and an adjusting fulcrum mechanism displacement sensor (403), wherein hinge holes are formed at two ends of a piston rod of the adjusting fulcrum mechanism hydraulic cylinder (401) and are used for being hinged with a frame (1), the purpose of fixedly connecting with the ground is achieved, a base is arranged on a cylinder barrel of the adjusting fulcrum mechanism hydraulic cylinder (401), and the cylinder barrel can be driven to slide along the piston rod on the frame.
Referring to fig. 1, 2 and 4, the lever (5) with adjustable arm length comprises a lever cross beam (501) and a fulcrum block (502), an optical axis (503), a force frame (504), a cylindrical rod piece (505), hinge holes at two ends of the lever cross beam (501) for hinging with piston rods of the steering engine valve control cylinder device (2) and the loading valve control cylinder device (3); the fulcrum block (502) is provided with a through hole and is connected with the force frame (504) through an optical axis (503) pin, the fulcrum block (502) can rotate around the optical axis (503), the force frame (504) can slide along the frame and is connected with the cylindrical rod piece (505) pin, the root of the cylindrical rod piece (505) is provided with a threaded hole connecting piece for being connected with a hydraulic cylinder barrel base screw of the valve control cylinder device (4) for adjusting the lever fulcrum, and the purpose of adjusting the lever arm fulcrum is achieved.
Referring to fig. 1 to 7, in operation: in the starting and reversing stage, see fig. 5, (1) a starting switch is pressed down, a constant delivery pump (603) works, a controller (607) sends out a signal to control a servo valve, an adjusting fulcrum mechanism electrohydraulic servo valve (402) works in the right position, as a piston rod of an adjusting fulcrum mechanism valve hydraulic cylinder (401) is fixed, a cylinder barrel of the adjusting fulcrum mechanism hydraulic cylinder (401) moves right, a force arm of an adjusting arm length adjustable lever (5) enables a force arm on one side of a steering engine device hydraulic cylinder (201) to grow, after reaching a designated position, the controller (607) sends out a signal to control the steering engine device electrohydraulic servo valve (202), the steering engine device electrohydraulic servo valve (202) works in the left position, a piston rod of the steering engine device hydraulic cylinder (201) stretches out, a steering engine device displacement sensor (203) transmits a displacement signal to the controller (607) to form a position feedback system, after receiving a position signal of a piston cylinder of the steering engine device hydraulic cylinder (201), the controller (607) sends out a signal to control a loading device electrohydraulic servo valve (302), the loading device electrohydraulic servo valve (301) works in the left position, the loading device hydraulic device (301) works in the loading device is loaded state, the force is transmitted to the piston rod of the loading device (201) through the control arm force feedback system, the piston rod of the loading device (201) is connected with the loading device (201) through the piston rod of the control device, and the real-time force sensor (303), in the starting and reversing stages of the steering engine system, the redundant force generated by the position disturbance is obvious, the fulcrum position of the lever with the adjustable arm length is adjusted by adjusting the cylinder barrel position of the fulcrum mechanism hydraulic cylinder (401), so that the arm of force on one side of the steering engine cylinder is increased, the influence of the redundant moment brought by the position disturbance of the steering engine system on the inside of the loading system can be well weakened, and the loading system is more accurately loaded; in the steady motion stage of the steering engine system, see fig. 6, the controller (607) sends a signal to control the servo valve, the electrohydraulic servo valve (402) of the electric adjusting fulcrum mechanism works in the left position, the cylinder barrel of the hydraulic cylinder (401) of the adjusting fulcrum mechanism moves left, and the arm of the lever (5) with adjustable arm length is adjusted, so that the arm of force on one side of the hydraulic cylinder (301) of the loading device is increased, the purpose of saving labor and loading is achieved, and the system power can be greatly saved.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. The utility model provides a loading and disturbance arm length adjustable electrohydraulic load simulator, its includes frame (1), set up in steering engine valve accuse jar device (2), loading valve accuse jar device (3), the valve accuse jar device (4) of adjusting lever arm fulcrum, lever (5) with adjustable arm length on frame (1), its characterized in that: the steering engine valve control cylinder device (2) outputs displacement under a given signal, the loading valve control cylinder device (3) receives the combined action of a steering engine cylinder displacement signal and a self feedback signal and then applies loading force to a steering engine system, the steering engine valve control cylinder device and the self feedback signal transmit displacement and force through the arm length adjustable lever (5), and the valve control cylinder device (4) for adjusting the arm length fulcrum of the lever can adjust the fulcrum position of the arm length adjustable lever (5);
the frame (1) is provided with a threaded hole, a first connecting piece (101) and a second connecting piece (102), the threaded hole is used for fixedly connecting the frame with the ground, the first connecting piece (101) is used for fixedly connecting the frame with a piston rod of a valve control cylinder device (4) for adjusting a fulcrum of a lever arm, the second connecting piece (102) is used for hinging the frame with a cylinder barrel of a steering engine valve control cylinder device (2), and the frame is hinged with a cylinder barrel of a loading valve control cylinder device (3); the steering engine valve control cylinder device (2) comprises a steering engine device hydraulic cylinder (201), a steering engine device electrohydraulic servo valve (202) and a steering engine device displacement sensor (203), wherein hinge holes are formed at two ends of a piston rod of the hydraulic cylinder and are used for being hinged with a lever cross beam (501) of an arm length adjustable lever (5); the loading valve control cylinder device (3) comprises a loading device hydraulic cylinder (301), a loading device electrohydraulic servo valve (302) and a loading device force sensor (303), wherein hinge holes are formed at two ends of a hydraulic cylinder piston rod and are used for being hinged with a lever cross beam (501) of an arm length adjustable lever (5); the valve control cylinder device (4) for adjusting the fulcrum of the lever arm comprises an adjusting fulcrum mechanism hydraulic cylinder (401), an adjusting fulcrum mechanism electrohydraulic servo valve (402) and an adjusting fulcrum mechanism displacement sensor (403), wherein hinge holes are formed at two ends of a hydraulic cylinder piston rod and are used for being hinged with a first connecting piece (101) on the frame (1), the purpose of being fixedly connected with the ground is achieved, a base is arranged on a cylinder barrel of the adjusting fulcrum mechanism hydraulic cylinder (401), and the cylinder barrel can be driven to slide on the frame along the piston rod; the lever (5) with the adjustable arm length comprises a lever cross beam (501), a fulcrum block (502), an optical axis (503), a force frame (504) and a cylindrical rod piece (505), wherein hinge holes are formed at two ends of the lever cross beam (501) and are used for being hinged with piston rods of the steering engine valve control cylinder device (2) and the loading valve control cylinder device (3); the fulcrum block (502) is provided with a through hole and is connected with the force frame (504) through an optical axis (503) pin, the fulcrum block (502) can rotate around the optical axis (503), the force frame (504) can slide along the frame and is connected with the cylindrical rod piece (505) pin, the root of the cylindrical rod piece (505) is provided with a threaded hole connecting piece for being connected with a hydraulic cylinder barrel base screw of the valve control cylinder device (4) for adjusting the lever fulcrum, and the purpose of adjusting the lever arm fulcrum is achieved.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110649950.7A CN113341766B (en) | 2021-06-10 | 2021-06-10 | Electro-hydraulic load simulator with adjustable loading and disturbance eliminating arm length |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110649950.7A CN113341766B (en) | 2021-06-10 | 2021-06-10 | Electro-hydraulic load simulator with adjustable loading and disturbance eliminating arm length |
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| Publication Number | Publication Date |
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| CN113341766A CN113341766A (en) | 2021-09-03 |
| CN113341766B true CN113341766B (en) | 2024-04-12 |
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| CN101988530A (en) * | 2009-08-04 | 2011-03-23 | 沈阳东北电力调节技术有限公司 | Lever feedback electrohydraulic servo mechanism |
| CN103413489A (en) * | 2013-08-08 | 2013-11-27 | 北京航空航天大学 | Torque servo control loading load simulator |
| CN103950442A (en) * | 2014-04-14 | 2014-07-30 | 同济大学 | Lever fulcrum-adjustable mechanical electronic hydraulic brake system |
| DE102013205807A1 (en) * | 2013-04-02 | 2014-10-02 | Thyssenkrupp Marine Systems Gmbh | rowing machine |
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2021
- 2021-06-10 CN CN202110649950.7A patent/CN113341766B/en active Active
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| CN101988530A (en) * | 2009-08-04 | 2011-03-23 | 沈阳东北电力调节技术有限公司 | Lever feedback electrohydraulic servo mechanism |
| DE102013205807A1 (en) * | 2013-04-02 | 2014-10-02 | Thyssenkrupp Marine Systems Gmbh | rowing machine |
| CN103413489A (en) * | 2013-08-08 | 2013-11-27 | 北京航空航天大学 | Torque servo control loading load simulator |
| CN103950442A (en) * | 2014-04-14 | 2014-07-30 | 同济大学 | Lever fulcrum-adjustable mechanical electronic hydraulic brake system |
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