CN116793622A - Static force balancing device suitable for electric vibrating table and control method - Google Patents
Static force balancing device suitable for electric vibrating table and control method Download PDFInfo
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Abstract
The application discloses a static force balancing device and a control method suitable for an electric vibrating table, wherein the device comprises a mechanical hydraulic main body composed of a rear support, a cow seat or an auxiliary support seat, an actuator, a servo valve, a piston type energy accumulator and a hydraulic oil station, and the static force balancing control strategy adopted by the device is mainly force feedback closed-loop control, and introduces the working position deviation of the vibrating table as a control compensation quantity; meanwhile, aiming at the parallel driving force balance control of a single-rod type servo tension actuator or a thrust actuator in a vertical mode, an average force differential compensation method is provided for solving the problem of unbalanced force of four sets of servo actuators; finally, the device can quickly follow the change of static force in real time in the vibration process without being influenced by dynamic exciting force, and the electric vibration table can be in an optimal exciting state nearby the working middle position all the time.
Description
Technical Field
The application relates to the technical field of vibration test equipment, in particular to a static force balancing device suitable for an electric vibration table and a control method.
Background
The large-scale vibrating table is widely applied to flight vibration simulation tests of various products, ground transportation simulation tests, airborne environment simulation tests, earthquake simulation tests in geotechnical construction water conservancy and life line engineering, dynamic fatigue test tests of various products and the like. The large vibrating tables are mainly of two types: an electric vibration table and an electrohydraulic vibration table.
The electric vibrating table comprises derivative products thereof, such as an electromagnetic vibrating table, an electromagnetic vibration exciter and the like, and the test table is a standardized mature product at present, such as American Ling company, japanese IMV, american I-DEAS, domestic space Hill, dongshi, su test and the like, which are all professional vibrating table manufacturers, and the produced electric vibrating table has the advantages of large thrust (maximally up to 700kN thrust), small harmonic distortion degree, good frequency characteristic, large excitation frequency width (5 Hz-2000 Hz) and the like, and is widely applied to the vibration test field of various products in various industries. Of course, the electrodynamic vibration table has certain disadvantages, and is limited by the working principle, the lower limit of the frequency of the electrodynamic vibration table can only reach 5Hz, and the vibration displacement is generally not more than 65mm. In addition, the electric vibration table is large in size and mass, is not beneficial to flexible installation, has weak static load supporting capacity, and has the maximum static load bearing capacity of only 2t for the current largest domestic 70t electric vibration table.
On the other hand, with the continued development of vibration test techniques. At present, conventional vibration tests are not capable of meeting the vibration test requirements in certain specific scenes, such as vibration loading of a large-load test piece beyond the static load supporting range of a vibration table, combined loading of concentrated force and vibration, loading of an electric vibration table in a centrifugal environment and the like. Under these circumstances, the electrodynamic vibration shaker is often not normally loaded due to excessive self-weight of the test piece or static force externally applied to the electrodynamic vibration shaker.
Therefore, a static force balancing device and a control method suitable for the electric vibration table are developed to solve the problems.
Disclosure of Invention
The application aims to solve the problems and designs a static force balancing device and a control method suitable for an electric vibrating table.
The application realizes the above purpose through the following technical scheme:
static force balancing unit suitable for electric vibration table includes:
a force balance controller;
a mechanical hydraulic component; the mechanical hydraulic component comprises at least one actuator, at least one servo valve, a piston type energy accumulator, a hydraulic oil station, a pressure sensor for actuating pressure detection and a displacement sensor for actuating displacement detection, wherein the fixed end of the actuator is fixedly arranged, the acting end of the actuator acts on the vibration table top, the acting direction of the actuator is consistent with the vibration direction of the vibration table top, and the actuator, the servo valve, the piston type energy accumulator and the hydraulic oil station are sequentially connected; the signal output end of the pressure sensor and the signal output end of the displacement sensor are connected with the signal input end of the force balance controller, and the signal output end of the force balance controller is connected with the signal input end of the servo valve.
As a preference, when electric vibration platform is vertical mode setting, static force balancing unit still includes auxiliary stay seat, extension mesa, and the actuator is vertical servo tension actuator, and auxiliary stay seat installs in the support top of vibration platform, and extension mesa is connected with the vibration platform moving coil and is put in auxiliary stay seat top, and auxiliary stay seat and extension mesa are arranged in to the actuator between.
Further, the static force balancing device further comprises at least one air spring device, the at least one air spring device being interposed between the auxiliary support base and the expanding table top.
Further, the static force balancing device further comprises at least one hydrostatic bearing, the at least one hydrostatic bearing being interposed between the auxiliary support base and the expanding table top.
Further, the piston accumulator is mounted on the auxiliary support seat.
As another preferred, when the electric vibration table is arranged in a horizontal mode, the static force balancing device further comprises a cow seat and a counter-force support, the actuator is a horizontal servo thrust actuator, the vibration table is connected with the sliding table, the counter-force support is fixedly arranged on the base of the sliding table and far away from one side of the vibration table, the fixed end of the actuator is arranged on the counter-force support, and the acting end of the actuator is connected with the sliding table through the cow seat.
Further, the piston accumulator is mounted on the counter-force support.
Further, the static force balancing device also comprises a signal case, wherein the signal case comprises a pressure signal conditioning unit, a servo valve power amplifier output unit, a displacement signal conditioning unit and an external signal conditioning unit, and the force balancing controller also comprises a real-time controller, an analog input card and an analog output card; the real-time controller is respectively connected with the pressure signal conditioning unit, the displacement signal conditioning unit and the external signal conditioning unit through an analog input card, the real-time controller is connected with the servo valve power amplifier output unit through an analog output card, the external force reference is input into the external signal conditioning unit, the signal output end of the pressure sensor is connected with the signal input end of the pressure signal conditioning unit, and the signal output end of the displacement sensor is connected with the signal output end of the displacement signal conditioning unit; the signal input end of the servo valve is connected with the signal output end of the servo valve power amplifier output unit.
The control method of the static force balancing device suitable for the electric vibration table comprises the following steps:
the force feedback control method introduces the working position deviation of the vibrating table as the control compensation quantity, and a specific force balance control calculation formula is as follows:
the servo valve driving signals output by the force balance controller are as follows:
Y(t)＝k p *(F r (t)-P y (t))+β*sum(Δd(t)) (1)
here, k p Is the pressure control proportional gain, beta is the displacement deviation compensation factor, F r (t) is the measured external static reference force, P y (t) is the measured actuator oil chamber pressure, sum (Δd (t)) is the sum of the measured vibration table work position deviations;
in addition, when the electric vibration table is arranged in a vertical mode, four actuators are used and act on the lower parts of the centers of the four sides of the vibration table surface respectively; or when the electric vibration table is horizontally arranged, four actuators are arranged side by side and act on one side of the electric vibration table; an average force differential compensation method is set up,
four-parallel driving average force differential compensation is calculated as follows:
here, k p For pressure control of proportional gain, alpha is a differential compensation factor, F r (t) is the measured external static reference force, P yi (t) is the measured oil cavity pressure of the 4 sets of servo actuators, sum (P yi (t)) is the sum of the measured actuator oil chamber pressures;
according to the pressure formula:
F＝P*S (3)
here, P is the air pressure and oil pressure intensity, S is the sectional area, i.e. the energy storage section area and the piston effective area, and F is the static force;
by calculating the pre-charge pressure of the piston type energy accumulator and designing the effective area of the piston of the actuator, the magnitude of the static force output by the actuator is not limited, namely, the device can realize static force balance under the action of any static force magnitude.
The application has the beneficial effects that:
the piston type energy accumulator is communicated with the rod cavity of the servo tension actuator or the rod-free cavity of the thrust actuator to form an oil-gas spring, the piston type energy accumulator is pre-charged with pressure, and oil charging and discharging adjustment is carried out on the piston type energy accumulator when force balance in the vibration working process is controlled, so that the static force output by the servo actuator and the dynamic force which is passively received are mutually separated without influence. The static force balance control strategy adopted by the device is mainly force feedback closed-loop control, and introduces the working position deviation amount of the vibrating table as a control compensation amount, so that the device can quickly follow the change of static force in real time without being influenced by dynamic exciting force in the vibration process, and the table top and the moving coil of the electric vibrating table can be always in an optimal dynamic exciting state in a static balance state near the working position. The signals collected by the control main body all adopt a second-order Butterworth low-pass filter to filter out high-frequency vibration signals without affecting low-frequency force balance control. The device has the advantages of simple structure, easy realization and stable and reliable control, can effectively solve the problem that the electric vibration table cannot work normally due to overlarge static force in the excitation process, and can be widely applied to vibration tests when the electric vibration table is influenced by external static force.
Drawings
FIG. 1 is a schematic view of the structure of a mechanical hydraulic component arranged in a vertical stage;
FIG. 2 is a schematic view of the structure of a mechanical hydraulic component arranged in a horizontal stage manner;
FIG. 3 is a schematic view of the structure of a mechanical hydraulic component arranged in a horizontal stage (four actuators arranged side by side);
fig. 4 is a block diagram of the system components of the electrical portion of the present application.
In the figure: 1. an auxiliary supporting seat; 2. an air spring device; 3. a vertical servo tension actuator; 4. expanding the table top; 5. a hydrostatic bearing; 6. a vibration table; 7. a sliding table; 8. niu Tou; 9. a servo valve; 10. a horizontal servo thrust actuator; 11. a counter-force support; 12. a piston accumulator; 13. and a hydraulic oil station.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships conventionally put in place when the inventive product is used, or the directions or positional relationships conventionally understood by those skilled in the art are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, terms such as "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The following describes specific embodiments of the present application in detail with reference to the drawings.
As shown in fig. 1 and 2, a static force balancing device suitable for an electrodynamic vibration shaker 6, includes:
a force balance controller;
a mechanical hydraulic component; the mechanical hydraulic component comprises four actuators, four servo valves 9, a piston type energy accumulator 12, a hydraulic oil station 13, a pressure sensor for actuating pressure detection and a displacement sensor for actuating displacement detection, the fixed ends of the actuators are fixedly arranged, the acting ends of the actuators act on a vibration table top, the actuating direction of the actuators is consistent with the vibration direction of the vibration table top, and the actuators, the servo valves 9, the piston type energy accumulator 12 and the hydraulic oil station 13 are sequentially connected; the signal output end of the pressure sensor and the signal output end of the displacement sensor are connected with the signal input end of the force balance controller, and the signal output end of the force balance controller is connected with the signal input end of the servo valve 9.
As shown in fig. 1, when the electric vibration table 6 is arranged in a vertical manner, the static force balancing device further comprises an auxiliary supporting seat 1, four air spring devices 2, four hydrostatic bearings 5 and an expansion table top 4, wherein the auxiliary supporting seat 1 is formed into a square annular structure, the expansion table top 4 is formed into a square shape, the acting end of the vibration table 6 passes through the center of the auxiliary supporting seat 1 and is connected with the bottom of the expansion table top 4, the four air spring devices 2 are arranged between four corners of the expansion table top 4 and the auxiliary supporting seat 1, and the four hydrostatic bearings 5 and four actuators are arranged between the middle parts of four sides of the expansion table top 4 and the auxiliary supporting seat 1; the actuator is a vertical servo tension actuator 3, the auxiliary supporting seat 1 is arranged above the support of the vibrating table 6, the expanding table top 4 is connected with the moving coil of the vibrating table 6 and is arranged above the auxiliary supporting seat 1, and the piston type energy accumulator 12 is arranged on the auxiliary supporting seat 1. A hydraulic oil station 13 is placed between the oil sources for supplying oil to the actuators and hydrostatic bearings 5.
As shown in fig. 2 and 3, when the electric vibration table 6 is set in a horizontal manner, the static force balancing device further comprises a headstock 8 and a counter-force support 11, the actuators are horizontal servo thrust actuators 10, the vibration table 6 is connected with the sliding table 7, the counter-force support 11 is installed and fixed on the base of the sliding table 7 and far away from one side of the vibration table 6, four actuators are arranged side by side, fixed ends of the four actuators are installed on the counter-force support 11, and action ends of the four actuators are connected with the sliding table 7 through the headstock 8. The piston accumulator 12 is mounted on the counter-force support 11.
As shown in fig. 4, the static force balancing device further comprises a signal cabinet, wherein the signal cabinet comprises a pressure signal conditioning unit, a servo valve 9 power amplification output unit, a displacement signal conditioning unit and an external signal conditioning unit, and the force balancing controller further comprises a real-time controller, an analog input card and an analog output card; the real-time controller is respectively connected with the pressure signal conditioning unit, the displacement signal conditioning unit and the external signal conditioning unit through an analog input card, the real-time controller is connected with the power amplifier output unit of the servo valve 9 through an analog output card, the external force reference is input into the external signal conditioning unit, the signal output end of the pressure sensor is connected with the signal input end of the pressure signal conditioning unit, and the signal output end of the displacement sensor is connected with the signal output end of the displacement signal conditioning unit; the signal input end of the servo valve 9 is connected with the signal output end of the power amplification output unit of the servo valve 9. The real-time controller, the analog input card and the analog output card are arranged in the controller case.
In the application, the actuators are provided with valve blocks for installing the servo valve 9 and the pressure sensor, and the displacement sensor is arranged in the actuators for measuring the working position of the vibrating table top. When the electric vibration table 6 is arranged horizontally or vertically, four sets of actuators and servo valves 9 are arranged respectively, and the parallel driving force balance control of the four sets of actuators is completed through a force balance controller.
In addition, the piston type energy accumulator is directly communicated with a rod cavity of a pull actuator of the actuator or a rodless cavity of a push actuator to generate static force, the pressure change of the piston type energy accumulator is adjusted, the piston type energy accumulator is respectively connected with a main oil way and an oil return way through a servo valve 9, and the oil filling and discharging process of an oil cavity of the piston type energy accumulator is controlled by adjusting the position and the opening size of a valve core of the servo valve 9, so that the volume of oil of the energy accumulator is changed, and the change adjustment of the pressure of the energy accumulator is realized. The hydraulic oil station 13 provides a power source for the whole system.
The force balance controller mainly completes two tasks of electrohydraulic force balance control of the static force balance device and maintaining the movable coil of the vibrating table 6 to be near the working position. The real-time controller is provided with an Ethernet communication network port for communicating with a superior program development computer, and can download a force balance control program into the controller. The real-time controller adopts real-time point-by-point closed-loop control under accurate timing with a period of 2ms (sampling frequency is 500 Hz), a second-order Butterworth low-pass filter is adopted for each path of collected signals, and the cut-off frequency is 4Hz, so that high-frequency dynamic signals are filtered out, and low-frequency static force balance control is not affected completely, and static force balance control and moving coil positioning of the electric vibration table 6 in the vibration process are realized.
The pressure sensor is used for measuring the pressure in the oil cavity, namely the tensile force or the thrust generated by the actuator, and the displacement sensor is packaged in the actuator and used for measuring the working positions of the vibrating table top and the moving coil.
The analog input card converts each sensor signal into a voltage signal through a pressure signal conditioning unit, a displacement signal conditioning unit and an external signal conditioning unit of the signal cabinet, performs multi-channel data acquisition, calculates a driving signal of the servo valve 9 in a closed loop period according to a force balance control strategy by using the acquired signals as input control signals of the real-time controller, outputs the driving voltage signal point by point through the analog output card, outputs a power amplification unit through the servo valve 9 of the signal cabinet, converts the driving voltage signal into a current signal, and transmits the current signal to the servo valve 9, so that the valve core position of the servo valve 9 is controlled, and the effect of adjusting pressure change is achieved.
A control method of a static force balancing device applied to an electrodynamic vibration shaker 6, comprising:
the force feedback control method introduces the working position deviation of the vibrating table as the control compensation quantity, and a specific force balance control calculation formula is as follows:
the servo valve 9 driving signal output from the force balance controller is:
U(t)＝k p *(F r (t)-P y (t))+β＊sum(Δd(t)) (1)
here, k p Is the pressure control proportional gain, beta is the displacement deviation compensation factor, F r (t) is the measured external static reference force, P y (t) is the measured actuator oil chamber pressure, sum (Δd (t)) is the sum of the measured vibration table work position deviations;
in addition, when the electric vibration table 6 is arranged in a vertical mode, four actuators are used and act on the lower parts of the centers of the four sides of the vibration table surface respectively; or when the electric vibration table 6 is horizontally arranged, four actuators are arranged side by side and act on one side of the electric vibration table 6; the actuators are all single-rod type; setting an average force differential compensation method for the electric vibration table 6 of the type;
four-parallel driving average force differential compensation is calculated as follows:
here, k p For pressure control of proportional gain, alpha is a differential compensation factor, F r (t) is the measured external static reference force, P yi (t) is the measured oil cavity pressure of the 4 sets of servo actuators, sum (P yi (t)) is the sum of the measured actuator oil chamber pressures;
according to the pressure formula:
F＝P＊S (3)
here, P is the air pressure and oil pressure intensity, S is the sectional area, i.e. the energy storage section area and the piston effective area, and F is the static force;
by calculating the pre-charge pressure of the piston type energy accumulator 12 and designing the effective area of the piston of the actuator, the magnitude of the static force output by the actuator is not limited, namely, the device can realize static force balance under the action of any static force magnitude.
The application utilizes the advantages of low first-order resonance frequency (below 3 Hz) of the gas spring and good vibration isolation effect. And communicating the piston type energy accumulator with a rod cavity of the servo tension actuator or a rodless cavity of the thrust actuator to form the hydro-pneumatic spring. Firstly, the piston type energy accumulator is pre-charged with pressure, and when the force balance in the vibration working process is controlled, the piston type energy accumulator is charged with oil and discharged with oil to be adjusted, so that the static force output by the servo actuator and the dynamic force which is passively received are mutually separated without influence. In addition, the accumulator gas spring will have a significant vibration isolation from the rear support (horizontal) or auxiliary support 1 (vertical) without being affected by vibrations.
According to the application, the magnitude of static force can be unrestricted by designing the pre-charging pressure of the energy accumulator and the area of the piston of the servo actuator. By calculating the pre-charge pressure of the energy accumulator and designing the effective area of the piston of the servo actuator, the magnitude of the static force output by the servo actuator is not limited, and the static force device with any magnitude can realize force balance control.
The static force balance control strategy adopts a force feedback control strategy, and introduces the working position deviation amount of the vibrating table 6 as a control compensation amount. Meanwhile, aiming at the parallel driving force balance control of a single-rod type servo tension actuator or a thrust actuator in a vertical platform mode, an average force differential compensation method is provided, so that the problem of unbalanced force of four sets of servo actuators is solved. The control method can quickly follow alternating and slowly-changing static force changes in real time in the vibration process without being influenced by dynamic exciting force, and the electric vibration table 6 is always in an optimal exciting state near the working neutral position.
According to the application, the real-time controller adopts real-time point-by-point closed-loop control under accurate timing with a period of 2ms (sampling frequency is 500 Hz), a second-order Butterworth low-pass filter is adopted for each path of collected signals, and the cut-off frequency is 3Hz, so that the high-frequency dynamic signals are filtered out without influencing the low-frequency force balance control, and the static force balance control under the dynamic excitation condition is realized.
The static force balancing device suitable for the electric vibration table 6 has the advantages of low first-order resonance frequency and good vibration isolation effect by utilizing the gas spring. The piston type energy accumulator is pre-charged with air, an oil-gas spring is formed after the piston type energy accumulator is communicated with an oil cavity of the servo actuator, and then the servo valve 9 is controlled by the force balance controller, so that the oil filling and discharging process of the oil cavity of the servo actuator is realized, and the effect of adjusting the pressure is achieved. The static force balancing device can well solve the vibration loading problem of a large-load test piece exceeding the static load supporting range of the vibrating table 6, the compound loading of concentrated force and vibration, the electric vibration loading problem in a centrifugal environment and the like. Meanwhile, the static force balancing device can quickly follow the change of the static force in real time in the vibration process without being influenced by dynamic exciting force, so that the electric vibration table 6 is always in a static force balancing state, and the electric vibration table 6 can be ensured to be in an optimal dynamic exciting state in a static force balancing state near the working median.
The static force balancing device only supports or connects the table top of the electric vibration table 6 or the sliding table 7 or the auxiliary support expansion table top 4, and does not damage the internal structure of the electric vibration table 6. In addition, the device has simple structure, easy realization and stable and reliable control, and can effectively solve the problem that the vibrating table 6 cannot work normally due to overlarge static force in the excitation process.
The foregoing is merely a preferred embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that several modifications and variations can be made without departing from the technical principle of the present application, and these modifications and variations should also be regarded as the scope of the application.
Claims (9)
1. Static force balancing unit suitable for electric vibration platform, its characterized in that includes:
a force balance controller;
a mechanical hydraulic component; the mechanical hydraulic component comprises at least one actuator, at least one servo valve, a piston type energy accumulator, a hydraulic oil station, a pressure sensor for actuating pressure detection and a displacement sensor for actuating displacement detection, wherein the fixed end of the actuator is fixedly arranged, the acting end of the actuator acts on the vibration table top, the acting direction of the actuator is consistent with the vibration direction of the vibration table top, and the actuator, the servo valve, the piston type energy accumulator and the hydraulic oil station are sequentially connected; the signal output end of the pressure sensor and the signal output end of the displacement sensor are connected with the signal input end of the force balance controller, and the signal output end of the force balance controller is connected with the signal input end of the servo valve.
2. The static force balancing device for the electric vibration table according to claim 1, wherein when the electric vibration table is arranged in a vertical mode, the static force balancing device further comprises an auxiliary supporting seat and an expansion table top, the actuator is a vertical servo tension actuator, the auxiliary supporting seat is arranged above a support seat of the vibration table, the expansion table top is connected with a movable coil of the vibration table and is arranged above the auxiliary supporting seat, and the actuator is arranged between the auxiliary supporting seat and the expansion table top.
3. The static force balancing device for an electrodynamic vibration shaker of claim 2, further comprising at least one air spring device interposed between the auxiliary support base and the extension deck.
4. The static force balancing device for an electrodynamic vibration shaker of claim 2, further comprising at least one hydrostatic bearing interposed between the auxiliary support base and the extension deck.
5. A static force balancing device for an electrodynamic vibration shaker, as claimed in claim 2, wherein the piston accumulator is mounted on an auxiliary support.
6. The static force balancing device for the electric vibration table according to claim 1, wherein when the electric vibration table is arranged in a horizontal mode, the static force balancing device further comprises a cow seat and a counter-force support, the actuator is a horizontal servo thrust actuator, the vibration table is connected with the sliding table, the counter-force support is installed and fixed on a base of the sliding table and is far away from one side of the vibration table, a fixed end of the actuator is installed on the counter-force support, and an acting end of the actuator is connected with the sliding table through the cow seat.
7. The static force balancing device for an electrodynamic vibration shaker of claim 6, wherein the piston accumulator is mounted on a counter-force mount.
8. The static force balancing device applicable to the electric vibration table according to claim 1, wherein the static force balancing device further comprises a signal cabinet, the signal cabinet comprises a pressure signal conditioning unit, a servo valve power amplifier output unit, a displacement signal conditioning unit and an external signal conditioning unit, and the force balancing controller further comprises a real-time controller, an analog input card and an analog output card; the real-time controller is respectively connected with the pressure signal conditioning unit, the displacement signal conditioning unit and the external signal conditioning unit through an analog input card, the real-time controller is connected with the servo valve power amplifier output unit through an analog output card, the external force reference is input into the external signal conditioning unit, the signal output end of the pressure sensor is connected with the signal input end of the pressure signal conditioning unit, and the signal output end of the displacement sensor is connected with the signal output end of the displacement signal conditioning unit; the signal input end of the servo valve is connected with the signal output end of the servo valve power amplifier output unit.
9. The control method of a static force balance device applied to an electrodynamic vibration shaker, according to claim 1, comprising:
the force feedback control method introduces the working position deviation of the vibrating table as the control compensation quantity, and a specific force balance control calculation formula is as follows:
the servo valve driving signals output by the force balance controller are as follows:
U(t)＝k p *(F r (t)-P y (t))+β*sum(Δd(t)) (1)
here, k p Is the pressure control proportional gain, beta is the displacement deviation compensation factor, F r (t) is the measured external static reference force, P y (t) is the measured actuator oil chamber pressure, sum (Δd (t)) is the sum of the measured vibration table work position deviations;
in addition, when the electric vibration table is arranged in a vertical mode, four actuators are used and act on the lower parts of the centers of the four sides of the vibration table surface respectively; or when the electric vibration table is horizontally arranged, four actuators are arranged side by side and act on one side of the electric vibration table; an average force differential compensation method is set up,
four-parallel driving average force differential compensation is calculated as follows:
here, k p For pressure control of proportional gain, alpha is a differential compensation factor, F r (t) is the measured external static reference force, P yi (t) is the measured oil cavity pressure of the 4 sets of servo actuators, sum (P yi (t)) is the sum of the measured actuator oil chamber pressures;
according to the pressure formula:
F＝P*S (3)
here, P is the air pressure and oil pressure intensity, S is the sectional area, i.e. the energy storage section area and the piston effective area, and F is the static force;
by calculating the pre-charge pressure of the piston type energy accumulator and designing the effective area of the piston of the actuator, the magnitude of the static force output by the actuator is not limited, namely, the device can realize static force balance under the action of any static force magnitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310599305.8A CN116793622A (en) | 2023-05-25 | 2023-05-25 | Static force balancing device suitable for electric vibrating table and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310599305.8A CN116793622A (en) | 2023-05-25 | 2023-05-25 | Static force balancing device suitable for electric vibrating table and control method |
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| CN116793622A true CN116793622A (en) | 2023-09-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117387894A (en) * | 2023-12-13 | 2024-01-12 | 天津航天瑞莱科技有限公司 | Catapult-assisted take-off and arresting impact test device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117387894A (en) * | 2023-12-13 | 2024-01-12 | 天津航天瑞莱科技有限公司 | Catapult-assisted take-off and arresting impact test device |
| CN117387894B (en) * | 2023-12-13 | 2024-02-09 | 天津航天瑞莱科技有限公司 | Catapult-assisted take-off and arresting impact test device |
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