CN113532895A - Dynamic loading test bench for mining hydraulic control execution subsystem - Google Patents
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Abstract
The invention discloses a dynamic loading test bench for a mining hydraulic control execution subsystem, which comprises a hydraulic loading module, a control module and an electro-hydraulic signal dynamic acquisition and analysis module, wherein the hydraulic loading module comprises: the hydraulic loading module is used for adjusting the loading force of the tested oil cylinder and the tested motor; the control module is used for adjusting the stretching speed and displacement of the tested oil cylinder and adjusting the output rotating speed and torque of the tested motor; and the electro-hydraulic signal dynamic acquisition and analysis module is used for acquiring input signals of the tested valve group, acquiring telescopic speed, displacement and stress signals of the tested oil cylinder and acquiring output rotating speed and torque signals of the tested motor. In the test process, the input signal and the output signal are synchronously acquired, the characteristics of the hydraulic subsystem are completely picked up, and the control precision of the intelligent equipment of the coal mine is improved.
Description
Technical Field
The invention belongs to the technical field of testing of mining intelligent equipment, and particularly relates to a dynamic loading test platform of a mining hydraulic control execution subsystem.
Background
The automation and intellectualization of coal mine equipment are the premise and the basis for realizing the unmanned working face. The coal mine equipment hydraulic control execution system is complex and comprises a plurality of subsystems, and the action control of the equipment execution mechanism is completed. For example, the actions of loading the rod, drilling, protecting the rod, charging, spraying, drilling a box, switching an anchor box, drilling an anchor rod and the like of the intelligent anchor rod drill carriage are respectively completed by the subsystems. The equipment action precision is high, for example, the big arm of intelligent stock drill carriage requires accurate positioning, just can realize packing the drilling rod into just foraminiferous function.
The experimental technology of hydraulic elements such as a tested valve group, a hydraulic cylinder and the like is basically popularized, and in the process of realizing the invention, the inventor finds that at least the following problems exist in the prior art: a dynamic test method of a hydraulic control execution system of the mining equipment is not reported, and the performance of a hydraulic subsystem directly influences the performance of the whole intelligent equipment. Due to the lack of dynamic characteristic test information of the hydraulic subsystem, blindness exists in sending control instructions by a control system of the coal mine automation equipment, the equipment control precision is low, the development period is long, and the working performance index is difficult to achieve.
Disclosure of Invention
The present invention has been made in view of the above problems. The invention aims to provide a dynamic loading test bench for a mining hydraulic control execution subsystem, which can detect the dynamic characteristics of the hydraulic control execution subsystem and realize the accurate control of mining automation equipment.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a mining hydraulic control execution subsystem developments loading testboard, includes hydraulic loading module, control module and electric liquid signal developments acquisition and analysis module, wherein:
the hydraulic loading module is used for adjusting the loading force of the tested oil cylinder and the tested motor;
the control module is used for adjusting the stretching speed and displacement of the tested oil cylinder and adjusting the output rotating speed and torque of the tested motor;
and the electro-hydraulic signal dynamic acquisition and analysis module is used for acquiring input signals of the tested valve group, acquiring telescopic speed, displacement and stress signals of the tested oil cylinder and acquiring output rotating speed and torque signals of the tested motor.
Furthermore, the hydraulic loading module comprises a loading measuring and controlling platform, an oil cylinder loading device, a motor loading device, an electric control cabinet and a pump station, the control module comprises a valve group input signal industrial personal computer, a signal generator, a signal amplifier and the tested valve group, and the electro-hydraulic signal dynamic acquisition and analysis module comprises an oil cylinder force sensor, an oil cylinder displacement testing device, a motor torque and rotating speed sensor, a signal acquisition industrial personal computer, a data acquisition instrument and a tested valve group input signal acquisition instrument;
the tested valve group is an electro-hydraulic proportional valve, the tested valve group is respectively connected with a pump station, the tested oil cylinder and the tested motor through pipelines, the tested oil cylinder is arranged on an oil cylinder loading device, the tested motor is arranged on a motor loading device, a loading measuring and controlling platform is respectively connected with an electric control cabinet and the pump station through a power line and a signal line, and the loading measuring and controlling platform adjusts the loading force of the tested oil cylinder and the tested motor through a potentiometer to realize loading of different load amplitude values; and a signal amplifier in the test control console of the hydraulic control execution subsystem is connected with the control end of the tested valve group through a power line, and the output pressure and the flow of the tested valve group are adjusted through a valve group input signal industrial personal computer, a signal generator and the signal amplifier.
Further, the oil cylinder loading device comprises a sliding block, a hinged pin shaft, a base, a frame and a loading oil cylinder, the tested oil cylinder is respectively connected with the frame and one end of the sliding block through the pin shaft, the sliding block is connected with the frame through a sliding pair, the other end of the sliding block is connected with the loading oil cylinder, the oil cylinder displacement testing device is fixed on the frame, a rectangular groove is formed in the surface of the sliding block, an oil cylinder force sensor is arranged in the rectangular groove, and the oil cylinder force sensor is communicably coupled with the hydraulic control execution subsystem measurement and control platform.
Furthermore, the oil cylinder displacement testing device comprises a waveguide tube supporting seat, a waveguide tube, a magnetic ring mounting seat and a displacement sensor, wherein the displacement sensor is a magnetostrictive displacement sensor, the waveguide tube is fixed on the frame through the waveguide tube supporting seat, the magnetic ring is fixed on the sliding block through the magnetic ring mounting seat, and the magnetic ring can perform telescopic action along with the sliding block and generate relative displacement with the waveguide tube.
Further, the motor loading device comprises a motor mounting seat, a coupler, a motor torque and rotation speed sensor and a loading motor, the tested motor and the loading motor are oppositely arranged on the motor mounting seat, the tested motor and the loading motor are connected through the coupler and the motor torque and rotation speed sensor, and the motor torque and rotation speed sensor is communicably coupled with the hydraulic control execution subsystem measuring and controlling console.
Further, hydraulic control execution subsystem test and control platform includes power module, the valves input signal industrial computer with signal generator connects, signal generator with signal amplifier connects, and power module gives signal amplifier supplies power, signal amplifier with the control end of the valves of being tested links to each other, the input end of the valves input signal collection appearance of being tested with signal amplifier connects, the output of the valves input signal collection appearance of being tested with multichannel data collection appearance is connected, the signal collection industrial computer disposes display and input device for accomplish signal editing, processing, storage, report generation and historical data inquiry.
Compared with the prior art, the invention has the following beneficial effects.
1. The invention can carry out high-precision dynamic test on input and output signals of the tested valve bank, the hydraulic cylinder and the hydraulic motor, and realizes real-time acquisition, display and storage of input current signals; the system is provided with a plurality of sensors, the sensors are used for picking up input current signals, output force, displacement, torque and rotating speed signals of a hydraulic subsystem, a DMA (direct memory access) transmission technology is adopted, real-time transmission, real-time display, real-time storage and real-time analysis of all channel data are realized, and static characteristics and dynamic characteristics of the electrohydraulic valve are synchronously acquired by all channel test signals at high precision. The transmission line is provided with a shielding layer, and the anti-interference capability is strong.
2. The invention realizes the continuous adjustment of the loading current of the electro-hydraulic valve, adopts a human-computer interface system, can edit the waveform, the amplitude and the period of the input current signal of the electro-hydraulic valve, and transmits the edited waveform, amplitude and period to the electromagnet of the tested electro-hydraulic valve through the output unit. The parameters of the input current signal are continuously adjustable.
3. The control module and the electro-hydraulic signal dynamic acquisition and analysis module are integrated into a whole, and data are shared with each other to form an integral dynamic test platform of the test bed. And finishing the functions of data acquisition, storage, analysis, report generation, trend query and report generation.
4. The invention realizes the linear loading, the quadratic curve loading, the triangular wave loading, the square wave loading and the like of the hydraulic valve by editing the current function of the control module. The output pressure of the hydraulic pump can be adjusted by loading the potential knob of the measuring and controlling platform by the adjusting liquid, so that the loading force of the loading oil cylinder is adjusted.
5. The hydraulic control execution subsystem test console realizes dynamic test of the characteristics of the hydraulic system, the execution element simulates actual working condition loading test, and the corresponding relation between the input current and the output displacement, force, rotating speed and torque of the intelligent hydraulic system is obtained through signal analysis and processing, so that the test method is provided for high-precision control of the hydraulic system of the mining intelligent equipment.
Drawings
FIG. 1 is a block diagram of a mining hydraulic control execution subsystem according to an embodiment of the invention.
Fig. 2 is a general layout diagram of a dynamic loading test bench of a mining hydraulic control execution subsystem according to an embodiment of the invention.
Fig. 3 is a structural diagram of a cylinder loading device according to an embodiment of the present invention.
Fig. 4 is a structural diagram of a cylinder displacement testing device according to an embodiment of the present invention.
Fig. 5 is a diagram of a motor loading device according to an embodiment of the invention.
Fig. 6 is a schematic structural diagram of a hydraulic subsystem measurement and control console according to an embodiment of the present invention.
FIG. 7 is a schematic diagram of a hydraulic subsystem load test according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of the input signal acquisition of the tested valve group according to the embodiment of the invention.
Fig. 9 is a schematic diagram illustrating transmission of a control command of a tested valve group according to an embodiment of the present invention.
Fig. 10 is a schematic diagram of the collection of the output signal of the hydraulic subsystem according to the embodiment of the invention.
In the figure, 1-a loading measuring and controlling platform, 2-a cylinder loading device, 3-a motor loading device, 4-an electric control cabinet, 5-a pump station, 6-a tested valve group, 7-a hydraulic control execution subsystem measuring and controlling platform, 8-a tested cylinder, 9-a cylinder force sensor, 10-a slide block, 11-a hinged pin shaft, 12-a cylinder displacement testing device, 13-a base, 14-a frame, 15-a loading cylinder, 16-a waveguide tube supporting seat, 17-a waveguide tube, 18-a magnetic ring, 19-a magnetic ring mounting seat, 20-a displacement sensor, 21-a motor mounting seat, 22-a tested motor, 23-a coupling, 24-a motor torque and rotating speed sensor, 25-a loading motor and 26-a signal acquisition industrial personal computer, 27-a data acquisition instrument, 28-a power line and a signal line, 29-a tested valve group input signal acquisition instrument, 30-a valve group input signal industrial personal computer, 31-a signal amplifier, 32-a signal generator and 33-a power module.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 2, fig. 3, fig. 5, and fig. 7, a dynamic loading test bench for a mining hydraulic control execution subsystem according to an embodiment of the present invention includes a hydraulic loading module, a control module, and an electro-hydraulic signal dynamic acquisition and analysis module, where:
the hydraulic loading module is used for adjusting the loading force of the tested oil cylinder 8 and the tested motor 22;
the control module is used for adjusting the stretching speed and displacement of the tested oil cylinder 8 and adjusting the output rotating speed and torque of the tested motor 22;
and the electro-hydraulic signal dynamic acquisition and analysis module is used for acquiring an input current signal of the tested valve group, acquiring the extension speed, displacement and stress signal of the tested oil cylinder 8 and acquiring the output rotating speed and torque signal of the tested motor 22.
Referring to fig. 2, 3, 5 and 6, the hydraulic loading module comprises a loading measurement and control console 1, an oil cylinder loading device 2, a motor loading device 3, an electric control cabinet 4 and a pump station 5, and the control module comprises a valve group input signal industrial personal computer 30, a signal generator 32, a signal amplifier 31 and a tested valve group 6. The electro-hydraulic signal dynamic acquisition and analysis module comprises an oil cylinder force sensor 9, an oil cylinder displacement testing device 12, a motor torque, a rotating speed sensor 24, a signal acquisition industrial personal computer 26, a data acquisition instrument 27, a data line, a power line 28 and a tested valve group input signal acquisition instrument 29.
The tested valve group 6 is respectively connected with the pump station 5, the tested oil cylinder 8 and the tested motor 21 through pipelines, the tested oil cylinder 8 is arranged on the oil cylinder loading device 2, the tested motor 22 is arranged on the motor loading device 3, the loading measuring and controlling platform 1 is respectively connected with the electric control cabinet 4 and the pump station 5 through a power line and a data line, and the loading measuring and controlling platform 1 adjusts the loading force of the tested oil cylinder 8 and the tested motor 22 through a potentiometer to realize the loading of different load amplitude values; and the hydraulic control execution subsystem test control console 7 is connected with the control end of the tested valve group 6 and is used for adjusting the output pressure and flow of the tested valve group 6.
Referring to fig. 3 and 10, the cylinder loading device 2 includes a slider 10, a hinge pin 11, a base 13, a frame 14 and a loading cylinder 15, the tested cylinder 8 is respectively connected with the frame 14 and one end of the slider 10 through a pin, the slider 10 is connected with the frame 14 through a sliding pair, and the other end of the slider 10 is connected with the loading cylinder 15. A waveguide tube supporting seat 16 of the oil cylinder displacement testing device is fixed on a frame 14, a magnetic ring mounting seat 19 is fixed on a sliding block 10, the displacement sensor is a magnetostrictive displacement sensor, and a magnetic ring can perform telescopic action along with the sliding block and generate relative displacement with the waveguide tube. The surface of the slide block 10 is provided with a rectangular groove, the oil cylinder force sensor 9 is arranged in the rectangular groove, and the oil cylinder force sensor 9 is communicably coupled with the hydraulic control execution subsystem measurement and control console 7. The oil cylinder force sensor 9 uses a strain gauge to form a strain bridge circuit, the slider 10 generates micro-strain under the action of oil cylinder force, micro-strain signals are picked up through the strain bridge circuit, the oil cylinder force can be calculated, and then the oil cylinder force is transmitted to the hydraulic control execution subsystem measuring and controlling platform 7 through a gigabit Ethernet and a wireless router. In this embodiment, the temperature effect is considered, two working strain gauges are arranged in a perpendicular-to-perpendicular manner to eliminate the influence of temperature variation, the strain value of the slider 10 is picked up, and the output voltage e of the bridge circuit is obtained according to the Wheatstone bridge principle0The calculation formula of (2) is as follows:
in the above formula, ν: poisson's ratio, epsilon0：Rg1Amount of strain, E elastic modulus, ks: and (4) strain rate.
Referring to fig. 4, the oil cylinder displacement testing device 12 includes a waveguide supporting seat 16, a waveguide 17, a magnetic ring 18, a magnetic ring mounting seat 19 and a displacement sensor 20, the displacement sensor 20 is a magnetostrictive displacement sensor, the waveguide 17 is fixed on the frame 14 through the waveguide supporting seat 16, the magnetic ring 18 is fixed on the slider 10 through the magnetic ring mounting seat 19, and the magnetic ring 18 can perform telescopic action along with the slider 10 and generate relative displacement with the waveguide 17. The magnetic field generated by the current pulse of the waveguide tube 17 intersects with the magnetic field of the magnetic ring 18 to generate a magnetostrictive phenomenon at the moment, so that the displacement sensor 20 detects the displacement of the piston rod of the tested oil cylinder 8, and transmits an oil cylinder displacement signal to the hydraulic control execution subsystem measuring and controlling console 7 through a gigabit Ethernet and a wireless router.
Referring to fig. 5, the motor loading device includes a motor mounting base 21, a coupling 23, a motor torque and rotation speed sensor 24, and a loading motor 25, wherein the motor under test 22 and the loading motor 25 are oppositely disposed on the motor mounting base 21, the motor under test 22 and the loading motor 25 are connected through the coupling 23 and the motor torque and rotation speed sensor 24, and the motor torque and rotation speed sensor 24 is communicably coupled to the hydraulic control execution subsystem control console 7. Wherein, the motor output torque is measured: torque is defined by the product of the force and the moment arm in N m. The measurement of torque is most commonly performed by measuring the strain of the shaft and measuring the relative torsion angle of two cross-sections of the shaft. As known from mechanics of materials, when the unit body on the surface of the shaft is in a pure shear stress state when being subjected to torque, the unit body has the maximum positive stress sigma in the direction forming 45 degrees with the axial line1And σ2The value is | σ1|＝|σ2|＝τmax. Corresponding deformation as ε1And ε2When strain is measured,. tau.max. The strain gauge was applied at 45 ° to the axis during the measurement.
If the strain ε is measured in the direction of 45 °1The corresponding shear strain is
In the above formula: e-modulus of elasticity of the material; μ — poisson's ratio of material;
the torque T of the shaft is then calculated as:
in the above formula: wn-torsional modulus of the material; e-modulus of elasticity of the material; μ — poisson's ratio of material; epsilon1-the amount of strain measured.
Measuring the output rotating speed of the motor: the rotation speed to be measured is converted into an alternating current signal with phase difference through the elastic shaft and the magnetoelectric signal generator, and the frequency of the alternating current signal is in direct proportion to the rotation speed of the shaft and is used for measuring the rotation speed.
Referring to fig. 6, the hydraulic control execution subsystem test console 7 includes a power module 33, a valve group input signal industrial personal computer is connected with a signal generator, the signal generator is connected with a signal amplifier, the power module supplies power for the signal amplifier, the signal amplifier is connected with the control end of the tested valve group, the input end of the tested valve group input signal collector is connected with the signal amplifier, the output end of the tested valve group input signal collector is connected with a multi-channel data collector, and the signal collection industrial personal computer is provided with a display and an input device and used for completing signal editing, processing, storing, report generating and historical data inquiring.
Referring to fig. 8, a current signal sent by the signal generator 32 is transmitted to the signal amplifier 31, a resistor with a unit resistance value is connected in series in a current output circuit of the signal amplifier 31, a voltage signal at two ends of the resistor is picked up, the voltage value is equivalent to a current value transmitted to the tested valve group 6, the voltage value is processed by the tested valve group input signal acquisition instrument 29 to obtain an equivalent current, and the equivalent current is transmitted to the data acquisition instrument 27.
Referring to fig. 9, a valve set on the hydraulic control execution subsystem test console 7 inputs a signal industrial personal computer 30, and signal waveforms, frequencies and amplitudes can be edited through a mouse and a keyboard. The signal generator 32 selects standard signals such as square waves, triangular waves and sine waves, the signal frequency and the signal amplitude are set, the input current signal waveform is generated through oscillation and aliasing, the signal is amplified through the signal amplifier 31, and the signal is transmitted to the tested valve group 6.
The dynamic loading test board for the mining hydraulic control execution subsystem adopts gigabit Ethernet, 5G mobile communication and DMA technology, does not need a CPU (central processing unit) to directly control transmission, realizes infinite channel expansion, realizes uninterrupted continuous sampling of a large system with multiple measuring points, has longer communication distance, stores all data into a hard disk of an industrial personal computer in real time, realizes long-time real-time uninterrupted recording of all channel signals, and ensures high-speed, stable, code-missing-free data transmission, real-time remote synchronous completion of data acquisition and mass storage.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims.
Claims (6)
1. The utility model provides a mining hydraulic control execution subsystem developments loading testboard which characterized in that: including hydraulic pressure loading module, control module and electric liquid signal developments acquisition analysis module, wherein:
the hydraulic loading module is used for adjusting the loading force of the tested oil cylinder (8) and the tested motor (22);
the control module is used for adjusting the stretching speed and displacement of the tested oil cylinder (8) and adjusting the output rotating speed and torque of the tested motor (22);
and the electro-hydraulic signal dynamic acquisition and analysis module is used for acquiring input signals of the tested valve group (6), acquiring telescopic speed, displacement and stress signals of the tested oil cylinder (8) and acquiring output rotating speed and torque signals of the tested motor (22).
2. The mining hydraulic control execution subsystem dynamic loading test bench of claim 1, characterized in that: the hydraulic loading module comprises a loading measurement and control console (1), an oil cylinder loading device (2), a motor loading device (3), an electric control cabinet (4) and a pump station (5), the control module comprises a valve group input signal industrial personal computer (30), a signal generator (31), a signal amplifier (32) and the tested valve group (6), and the electro-hydraulic signal dynamic acquisition and analysis module comprises an oil cylinder force sensor (9), an oil cylinder displacement testing device (12), a motor torque and rotating speed sensor (24), a signal acquisition industrial personal computer (26), a data acquisition instrument (27) and a tested valve group input signal acquisition instrument (29);
the tested valve group (6) is an electro-hydraulic proportional valve, the tested valve group (6) is respectively connected with the pump station (5), the tested oil cylinder (8) and the tested motor (22) through pipelines, the tested oil cylinder (8) is arranged on the oil cylinder loading device (2), the tested motor (22) is arranged on the motor loading device (3), the loading measuring and controlling platform (1) is respectively connected with the electric control cabinet (4) and the pump station (5) through a power line and a signal line (28), and the loading measuring and controlling platform (1) adjusts the loading force of the tested oil cylinder (8) and the tested motor (22) through a potentiometer to realize loading of different load amplitude values; a signal amplifier (31) in a hydraulic control execution subsystem test control console (7) is connected with a control end of a tested valve group (6) through a power line, and the output pressure and the flow of the tested valve group (6) are adjusted through a valve group input signal industrial personal computer (30), a signal generator (32) and the signal amplifier (31).
3. The dynamic loading test bench for the mining hydraulic control execution subsystem according to claim 2, characterized in that: hydro-cylinder loading device (2) are including slider (10), articulated round pin axle (11), base (13), frame (14) and loading cylinder (15), it is connected with the one end of frame (14) and slider (10) respectively through the round pin axle to be examined hydro-cylinder (8), and slider (10) are connected through the sliding pair with frame (14), and the other end and loading cylinder (15) of slider (10) are connected, and hydro-cylinder displacement testing arrangement (12) are fixed on frame (14), and slider (10) surface is equipped with the rectangular channel, and hydro-cylinder force transducer (9) set up at the rectangular channel, hydro-cylinder force transducer (9) with hydraulic control execution subsystem measurement and control platform (7) can be communicate the coupling.
4. The mining hydraulic control execution subsystem dynamic loading test bench of claim 3, characterized in that: the oil cylinder displacement testing device (12) comprises a waveguide tube supporting seat (16), a waveguide tube (17), a magnetic ring (18), a magnetic ring mounting seat (19) and a displacement sensor (20), wherein the displacement sensor (20) is a magnetostrictive displacement sensor, the waveguide tube (17) is fixed on the frame (14) through the waveguide tube supporting seat (16), the magnetic ring (18) is fixed on the sliding block (10) through the magnetic ring mounting seat (19), and the magnetic ring (18) can perform telescopic action along with the sliding block (10) and generate relative displacement with the waveguide tube (17).
5. The dynamic loading test bench for the mining hydraulic control execution subsystem according to claim 2, characterized in that: the motor loading device comprises a motor mounting seat (21), a coupler (23), a motor torque and rotation speed sensor (24) and a loading motor (25), the tested motor (22) and the loading motor (25) are oppositely arranged on the motor mounting seat (21), the tested motor (22) and the loading motor (25) are connected through the coupler (23) and the motor torque and rotation speed sensor (24), and the motor torque and rotation speed sensor (24) is communicably coupled with the hydraulic control execution subsystem measuring and controlling console (7).
6. The dynamic loading test bench for the mining hydraulic control execution subsystem according to claim 2, characterized in that: the hydraulic control execution subsystem measurement and control console (7) comprises a power supply module (33), a valve group input signal industrial personal computer (30) is connected with the signal generator (32), the signal generator (32) is connected with the signal amplifier (31), the power supply module (33) supplies power to the signal amplifier (31), the signal amplifier (31) is connected with a control end of a tested valve group (6), an input end of the tested valve group input signal acquisition instrument (29) is connected with the signal amplifier (31), an output end of the tested valve group input signal acquisition instrument (29) is connected with the multichannel data acquisition instrument (27), and the signal acquisition industrial personal computer (26) is provided with a display and an input device and used for completing signal editing, processing, storage, report generation and historical data query.
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