CN203374559U - Test system for hydraulic cylinder stribeck model friction parameter - Google Patents

Test system for hydraulic cylinder stribeck model friction parameter Download PDF

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Publication number
CN203374559U
CN203374559U CN201320467076.6U CN201320467076U CN203374559U CN 203374559 U CN203374559 U CN 203374559U CN 201320467076 U CN201320467076 U CN 201320467076U CN 203374559 U CN203374559 U CN 203374559U
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China
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mouth
pressure
hydraulic cylinder
valve
communicates
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Expired - Fee Related
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CN201320467076.6U
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Chinese (zh)
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刘玉
李新有
刘勋
柏峰
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CISDI Engineering Co Ltd
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CISDI Engineering Co Ltd
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Abstract

The utility model discloses a test system for a hydraulic cylinder stribeck model friction parameter. The test system comprises a proportional pressure reduction overflow valve, a flow servo valve, a magnetic exchange valve, an energy accumulator, a rod cavity pressure sensor, a rodless cavity pressure sensor, a hydraulic cylinder to be tested, a hydraulic power unit, a hydraulic controller and a data analysis device. The hydraulic cylinder to be tested is provided with a displacement sensor used for detecting the position of a piston rod of the hydraulic cylinder to be tested in real time. The data analysis device can carry out surface fitting data processing on collected data and obtain the test value of the hydraulic cylinder stribeck model friction parameter through identification and analysis.

Description

The test system of oil hydraulic cylinder Stribeck model friction parameter
Technical field
The utility model belongs to the Hydraulic Test Technique field, is specifically related to a kind of test system of oil hydraulic cylinder Stribeck model friction parameter.
Background technique
Along with the raising to the servo-hydraulic control required precision, the frictional force of oil hydraulic cylinder has become a major issue of can not ignore.The non-linear friction power of oil hydraulic cylinder has a great impact the quiet dynamic characteristic of system, wave distortion phenomenon when creeping phenomenon when main manifestations is low speed, speed zero passage, produce static dead band and dynamically dead band, even limit cycles oscillations phenomenon etc. appears.In order better to describe the frictional force of oil hydraulic cylinder, be necessary to study oil hydraulic cylinder frictional force is carried out to accurately test identification friction parameter.
Classical coulomb friction+the viscous friction of traditional employing can not reflect the dynamic process of friction phenomenon really as the mode of friction model, in the engineering application, usually adopts the Stribeck friction model to describe the situation of change of oil hydraulic cylinder from static to each state frictional force of motion.The mathematic(al) representation that formula (1) is the Stribeck model, in formula, F is oil hydraulic cylinder frictional force, v is the relative velocity between piston and cylinder body, p afor oil hydraulic cylinder rodless cavity pressure, p bfor oil hydraulic cylinder rod chamber pressure; Coulomb friction force coefficient f c, the maximum static friction force COEFFICIENT K b, critical coefficient c v, viscous friction force coefficient f v, impacting force F prbe 5 friction parameters.
F = F C · ( 1 + ( K b - 1 ) · e - c V | v | ) sign ( v ) + f v · v F C = F pr + f c · ( p A + p B ) - - - ( 1 )
From the mathematic(al) representation of Stribeck model, can draw, the speed of related movement v between the size of oil hydraulic cylinder frictional force and piston and cylinder body, oil hydraulic cylinder two cavity oil are pressed p a, p brelevant.In order in fields such as design of Simulation, servocontrol compensation, to apply this model, just need, by measuring the frictional force F of oil hydraulic cylinder under different conditions, to analyze and pick out 5 friction parameter f in model c, f v, K b, c v, F prmeasured value.
The current problem that mainly has following several aspects about test system and the test method of oil hydraulic cylinder frictional force:
1, the test method that relates at present oil hydraulic cylinder frictional force in NBS only has " GB/T15622-2005 hydraulic cylinder test method ".The method has the mode of two kinds of testing friction power, and the first is to adopt two oil hydraulic cylinder levels to be loaded the mode on top, by detecting the pressure in loading hydraulic cylinder and tested hydraulic cylinder two chambeies, calculates the frictional force of tested hydraulic cylinder.The frictional force that the test result of the method has comprised loading hydraulic cylinder, the test result precision is influenced.The second is to adopt the mode of weight simulation loading to be loaded, and by detecting the pressure in tested hydraulic cylinder two chambeies, calculates the frictional force of tested hydraulic cylinder.The test result of the method has comprised the acceleration inertial force that adds loads, and, along with the motion of tested hydraulic cylinder, weight is applied to the loading force of tested hydraulic cylinder changing, and affects test result.This standard has only provided the test method of two kinds of oil hydraulic cylinder frictional force in addition, parameter formation and the identification of frictional force is not described.
2, about patent of invention " a kind of test system of servo hydraulic cylinder idle load start-up friction force and the test method " (publication number: be CN101441122) in the oil hydraulic cylinder one stress-free situation in chamber of test fluid cylinder pressure frictional force, the monolateral minimum starting friction power in another chamber of oil hydraulic cylinder is tested, just a kind of test operating mode of frictional force, (publication number: CN101451893) adopt by between tested liquid cylinder pressure and closed frame, forming seal force is the test that realizes oil hydraulic cylinder frictional force to patent of invention " a kind of test system of hydraulic cylinder with loading friction force characteristic and test method ", the back pressure cavity of oil hydraulic cylinder directly takes back fuel tank, the deformation force that loads frame by change changes the initiatively pressure in chamber of oil hydraulic cylinder, this method can only the monolateral pressure of test fluid cylinder pressure variation on the impact of oil hydraulic cylinder frictional force, above patent has only proposed a kind of test method to oil hydraulic cylinder frictional force simultaneously, and the pressure that can not simultaneously change oil hydraulic cylinder two chambeies carrys out the frictional force of test fluid cylinder pressure, be not suitable for parameter formation and the identification of oil hydraulic cylinder frictional force are tested.
3, patent of invention " dynamic friction parameter test system and test method " (publication number: CN101226068), patent of invention " integral measurement method of servo turntable LuGre model friction parameter and rotary inertia " (publication number: be CN102269638) all to provide a kind of testing apparatus and test method for the mechanical friction between material for test, and carry out measurement and the identification analysis of friction parameter.These testing apparatuss and test method are not suitable for the test analysis of the parameter of oil hydraulic cylinder frictional force.
Summary of the invention
In view of this, the purpose of this utility model is for the deficiencies in the prior art, and a kind of test system of oil hydraulic cylinder Stribeck model friction parameter is provided; This test system can conveniently obtain the frictional force of oil hydraulic cylinder under different operating pressure and movement velocity, and utilizes the data analysis set-up analysis to draw oil hydraulic cylinder friction parameter f c, f v, K b, c v, F prmeasured value.
The purpose of this utility model is achieved through the following technical solutions:
A kind of test system of oil hydraulic cylinder Stribeck model friction parameter, comprise ratio decompression relief valve, serving volume valve, solenoid directional control valve, tested liquid cylinder pressure, hydraulic power unit, hydraulic controller and data analysis set-up;
The P mouth of described ratio decompression relief valve and serving volume valve communicates with the T mouth with the P mouth of hydraulic power unit respectively with the T mouth, and the Y mouth of described ratio decompression relief valve communicates with the L mouth of hydraulic power unit;
The A mouth of described serving volume valve communicates with the rodless cavity of tested liquid cylinder pressure, the B mouth sealing of described serving volume valve;
The P mouth of described solenoid directional control valve communicates with the A mouth of ratio decompression relief valve, and the T mouth of described solenoid directional control valve communicates with the T mouth of hydraulic power unit, and the A mouth of described solenoid directional control valve communicates with the rod chamber of tested liquid cylinder pressure, the B mouth sealing of described solenoid directional control valve;
Be provided with the rod chamber pressure transducer on the pipeline that the A mouth of described solenoid directional control valve communicates with the rod chamber of tested liquid cylinder pressure and for the accumulator of dynamic compensation ratio decompression relief valve pressure surge;
Be provided with the rodless cavity pressure transducer on the pipeline that the A mouth of described serving volume valve communicates with the rodless cavity of tested liquid cylinder pressure;
Described tested liquid cylinder pressure is provided with for detecting in real time the displacement transducer of tested hydraulic cylinder piston rod position, and described displacement transducer is transferred to hydraulic controller by displacement signal;
Described rod chamber pressure transducer and rodless cavity pressure transducer are transferred to hydraulic controller by pressure signal;
Described hydraulic controller is exported to ratio decompression relief valve and serving volume valve by control command;
Described hydraulic controller is transferred to the pressure data in tested liquid cylinder pressure two chambeies and piston rod real time position data for analyzing the data analysis set-up of friction parameter measured value.
The beneficial effects of the utility model are:
1, the utility model adopts the mode of hydraulic proportional decompression relief valve and accumulator to control the Pressure in Back-pressure Cavity of tested liquid cylinder pressure, and the Pressure in Back-pressure Cavity of oil hydraulic cylinder can step-less adjustment, and Pressure in Back-pressure Cavity keeps constant substantially in the hydraulic cylinder process;
2, the frictional force due to oil hydraulic cylinder is relevant to two cavity pressures of oil hydraulic cylinder, by changing the pressure in two chambeies, can measure the frictional force of hydraulic cylinder sealing under different pressured states;
3, the mode that adopts back pressure to load, overcome the impact of introducing other load maintainer frictional force, makes that the frictional force measured is truer, precision is higher;
4, by the oil hydraulic cylinder two cavity pressure values of data analysis set-up real-time storage, the shift value of hydraulic cylinder piston rod, by built-in offline simulation algorithm, identification obtains 5 friction parameter measured values of the Stribeck model of oil hydraulic cylinder frictional force.
Other advantages of the present utility model, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on will be apparent to those skilled in the art to investigating hereinafter, or can from practice of the present utility model, be instructed.Target of the present utility model and other advantages can realize and obtain by following specification.
The accompanying drawing explanation
In order to make the purpose of this utility model, technological scheme and advantage clearer, below in conjunction with accompanying drawing, the utility model is described in further detail, wherein:
Fig. 1 is the utility model structural representation.
Embodiment
Hereinafter with reference to accompanying drawing, preferred embodiment of the present utility model is described in detail.Should be appreciated that preferred embodiment is only for the utility model is described, rather than in order to limit protection domain of the present utility model.
As shown in the figure, a kind of test system of oil hydraulic cylinder Stribeck model friction parameter, comprise ratio decompression relief valve 1, serving volume valve 2, solenoid directional control valve 3, tested liquid cylinder pressure 8, hydraulic power unit 9, hydraulic controller 10 and data analysis set-up 11;
The P mouth of described ratio decompression relief valve 1 and serving volume valve 2 communicates with the T mouth with the P mouth of hydraulic power unit 9 respectively with the T mouth, and the Y mouth of described ratio decompression relief valve 1 communicates with the L mouth of hydraulic power unit 9;
The A mouth of described serving volume valve 2 communicates with the rodless cavity of tested liquid cylinder pressure 8, the B mouth sealing of described serving volume valve 2;
The P mouth of described solenoid directional control valve 3 communicates with the A mouth of ratio decompression relief valve 1, the T mouth of described solenoid directional control valve 3 communicates with the T mouth of hydraulic power unit 9, the A mouth of described solenoid directional control valve 3 communicates with the rod chamber of tested liquid cylinder pressure 8, the B mouth sealing of described solenoid directional control valve 3;
Be provided with rod chamber pressure transducer 5 on the pipeline that the A mouth of described solenoid directional control valve 3 communicates with the rod chamber of tested liquid cylinder pressure 8 and for the accumulator 4 of dynamic compensation ratio decompression relief valve 1 pressure surge;
Be provided with rodless cavity pressure transducer 6 on the pipeline that the A mouth of described serving volume valve 2 communicates with the rodless cavity of tested liquid cylinder pressure 8;
Described tested liquid cylinder pressure 8 is provided with for detecting in real time the displacement transducer 7 of tested liquid cylinder pressure 8 piston rod position, and described displacement transducer 7 is transferred to hydraulic controller 10 by displacement signal;
Described rod chamber pressure transducer 5 and rodless cavity pressure transducer 6 are transferred to hydraulic controller 10 by pressure signal;
Described hydraulic controller 10 is exported to ratio decompression relief valve 1 and serving volume valve 2 by control command;
Described hydraulic controller 10 is provided with the data analysis set-up 11 of DAS in the pressure data in 8 liang of chambeies of tested liquid cylinder pressure and piston rod real time position data are transferred to.
In the present embodiment, described ratio decompression relief valve 1 is for controlling the rod chamber counterpressure of tested liquid cylinder pressure 8; Described serving volume valve 2 is for the movement velocity of the piston rod of controlling tested liquid cylinder pressure 8; Described solenoid directional control valve 3 for tested liquid cylinder pressure 8 rod chamber pressure are let out fully except the time measure the minimum friction of tested liquid cylinder pressure; Described accumulator 4 makes tested liquid cylinder pressure 8 keep constant in movement process rod chamber back pressure for the pressure surge of dynamic compensation ratio decompression relief valve 1.
In the present embodiment, oil hydraulic cylinder frictional force F=(Pa-Pb when the hydraulic cylinder piston rod uniform motion) * S, p in formula afor oil hydraulic cylinder rodless cavity pressure, p bfor oil hydraulic cylinder rod chamber pressure, S is the oil hydraulic cylinder cross-section area; p a, p bcan obtain by pressure transducer, S is the oil hydraulic cylinder cross-section area, and the relative velocity v between piston and cylinder body can obtain by displacement transducer; Therefore by measuring many group F, p a, p b, v numerical value, according to formula (1) (the scape technology of passing away), data analysis set-up 11 utilizes the method for surface fitting can analyze friction parameter f c, f v, K b, c v, F prmeasured value.
Finally explanation is, above embodiment is only unrestricted in order to the technical solution of the utility model to be described, although with reference to preferred embodiment, the utility model is had been described in detail, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement the technical solution of the utility model, and not breaking away from aim and the scope of the technical program, it all should be encompassed in the middle of claim scope of the present utility model.

Claims (1)

1. the test system of oil hydraulic cylinder Stribeck model friction parameter, is characterized in that: comprise ratio decompression relief valve (1), serving volume valve (2), solenoid directional control valve (3), tested liquid cylinder pressure (8), hydraulic power unit (9), hydraulic controller (10) and data analysis set-up (11);
The P mouth of described ratio decompression relief valve (1) and serving volume valve (2) communicates with the T mouth with the P mouth of hydraulic power unit (9) respectively with the T mouth, and the Y mouth of described ratio decompression relief valve (1) communicates with the L mouth of hydraulic power unit (9);
The A mouth of described serving volume valve (2) communicates with the rodless cavity of tested liquid cylinder pressure (8), the B mouth sealing of described serving volume valve (2);
The P mouth of described solenoid directional control valve (3) communicates with the A mouth of ratio decompression relief valve (1), the T mouth of described solenoid directional control valve (3) communicates with the T mouth of hydraulic power unit (9), the A mouth of described solenoid directional control valve (3) communicates with the rod chamber of tested liquid cylinder pressure (8), the B mouth sealing of described solenoid directional control valve (3);
Be provided with rod chamber pressure transducer (5) on the pipeline that the A mouth of described solenoid directional control valve (3) communicates with the rod chamber of tested liquid cylinder pressure (8) and for the accumulator (4) of dynamic compensation ratio decompression relief valve (1) pressure surge;
Be provided with rodless cavity pressure transducer (6) on the pipeline that the A mouth of described serving volume valve (2) communicates with the rodless cavity of tested liquid cylinder pressure (8);
Described tested liquid cylinder pressure (8) is provided with for detecting in real time the displacement transducer (7) of tested liquid cylinder pressure (8) piston rod position, and described displacement transducer (7) is transferred to hydraulic controller (10) by displacement signal;
Described rod chamber pressure transducer (5) and rodless cavity pressure transducer (6) are transferred to hydraulic controller (10) by pressure signal;
Described hydraulic controller (10) is exported to ratio decompression relief valve (1) and serving volume valve (2) by control command;
Described hydraulic controller (10) is transferred to the data analysis set-up (11) for analyzing the friction parameter measured value by the pressure data in tested liquid cylinder pressure (8) two chambeies and piston rod real time position data.
CN201320467076.6U 2013-08-01 2013-08-01 Test system for hydraulic cylinder stribeck model friction parameter Expired - Fee Related CN203374559U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104847733A (en) * 2015-05-07 2015-08-19 北京理工大学 Air cylinder having friction force estimation function
CN106762911A (en) * 2017-01-06 2017-05-31 湖南睿创宇航科技有限公司 A kind of hydraulic test integrated test set and method of testing

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104847733A (en) * 2015-05-07 2015-08-19 北京理工大学 Air cylinder having friction force estimation function
CN106762911A (en) * 2017-01-06 2017-05-31 湖南睿创宇航科技有限公司 A kind of hydraulic test integrated test set and method of testing

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Granted publication date: 20140101

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