CN203384159U - Device for detecting electro hydraulic servo system dead zone based on self-adapting vibration - Google Patents
Device for detecting electro hydraulic servo system dead zone based on self-adapting vibration Download PDFInfo
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Abstract
本实用新型提供一种基于自适应颤振的电液伺服系统死区的测定装置，包括：颤振信号发生器输出颤振信号；工作信号发生器输出工作信号；加法器将工作信号与颤振信号进行叠加，得到叠加信号，并将叠加信号发送至待测的电液伺服系统；带通滤波器接收电液伺服系统中位移传感器LVDT输出的电压信号，并对电压信号进行滤波处理；第一幅值检测电路检测滤波处理后的电压信号的幅值；颤振幅值发生器输出颤振幅值信号；第一减法器将电压信号的幅值与颤振幅值信号相减，得到第一差值；PI比例积分调节器根据第一差值输出比例积分系数；乘法器将颤振信号与比例积分系数相乘，得到乘积信号，将乘积信号输入至所述的加法器。能够测定电液伺服系统的死区大小。
The utility model provides a measuring device for the dead zone of an electro-hydraulic servo system based on self-adaptive flutter, which comprises: a flutter signal generator outputting a flutter signal; a working signal generator outputting a working signal; an adder combining the working signal with the flutter The signals are superimposed to obtain the superimposed signal, and the superimposed signal is sent to the electro-hydraulic servo system to be tested; the band-pass filter receives the voltage signal output by the displacement sensor LVDT in the electro-hydraulic servo system, and filters the voltage signal; the first The amplitude detection circuit detects the amplitude of the filtered voltage signal; the flutter amplitude generator outputs the flutter amplitude signal; the first subtractor subtracts the amplitude of the voltage signal from the flutter amplitude signal to obtain a first difference; The PI proportional-integral regulator outputs a proportional-integral coefficient according to the first difference; the multiplier multiplies the flutter signal by the proportional-integral coefficient to obtain a product signal, and inputs the product signal to the adder. It can determine the size of the dead zone of the electro-hydraulic servo system.
Description
Technical field
The utility model is about measuring the technical field of electrohydraulic servo system parameter,, about the technology in the dead band of measuring electrohydraulic servo system, is particularly a kind of testing apparatus of the electrohydraulic servo system dead band based on the self adaption flutter concretely.
Background technique
The dead band of electrohydraulic servo system refers in the actual use of electrohydraulic servo system, due to the impact of crossing the factors such as Feng Du that has dry friction, hinge gap, guiding valve, the sensitivity scarcely existed in electrohydraulic servo system.The size in dead band can characterize its insensitive degree, dead band is excessive, can have a strong impact on the device control accuracy, cause after device vibration, removal of load major defects such as can not maintaining idle running, so, in design, manufacture, installation and operation, all should make great efforts to make the dead band of electrohydraulic servo system to reduce to minimum.How to measure accurately the dead band of electrohydraulic servo system to the actual production important in inhibiting.
At present, the scheme in state's build-in test electrohydraulic servo system dead band generally is included in to be measured in dead-band, its scheme is: the rotating speed of the signal steam turbine of input first slowly rises to a value, steadily after (comparatively speaking) a period of time, slow decreasing is to original initial value again, then the oil engine displacement of take is output as abscissa, turbine speed is drawn as y coordinate, and the area that the hysteresis loop in figure surrounds just is similar to and represents the dead band in static characteristic figure.Just can calculate the dead-band of device by the information on figure.
The scheme of said determination steam turbine speed control device of the prior art, can not directly record the dead band of electrohydraulic servo system, and owing to can't making device maintain in desirable static state, therefore, can't break away from the impact dynamically the device dead-band caused, during test, the variance ratio of rotating speed is very large on measurement result impact, cause measuring dead-band can not reflect the truth of device.
The model utility content
The utility model, for the above-mentioned technical problem existed in prior art, has proposed a kind of testing apparatus of the electrohydraulic servo system dead band based on the self adaption flutter, can measure simply accurately the size in electrohydraulic servo system dead band.
The purpose of this utility model is, a kind of testing apparatus of the electrohydraulic servo system dead band based on the self adaption flutter is provided, and comprising: Signal generator of vibration is connected with adder by multiplier, for exporting vibrating signal; The working signal generator, be connected with described adder, for the output services signal; Described adder, with described working signal generator and described multiplier, be connected respectively,, obtain superposed signal, and described superposed signal is sent to electrohydraulic servo system to be measured by superposeing with working signal after described multiplier for described vibrating signal; Band-pass filter, be connected with displacement transducer LVDT in described electrohydraulic servo system, for receiving the voltage signal of described electrohydraulic servo system output, and described voltage signal carried out to the filtering processing; The first amplitude detection circuit, be connected with described band-pass filter, the amplitude of the voltage signal after processing for detection of filtering; Flutter amplitude generator, be connected with the first subtractor, for exporting the flutter amplitude signal; Described the first subtractor, be connected with described flutter amplitude generator and described the first amplitude detection circuit, for the amplitude by described voltage signal and described flutter amplitude signal, subtracts each other, and obtains the first difference; The PI proportional and integral controller, be connected with described the first subtractor and described multiplier, for according to described the first difference export ratio integral coefficient; Described multiplier, be connected with described pi regulator and described Signal generator of vibration, for described vibrating signal and described proportion integral modulus are multiplied each other, obtains product signal, and described product signal is inputed to described adder; The second amplitude detection circuit, be connected with described multiplier, for detection of the amplitude of described product signal; The second subtractor, with described the second amplitude detection circuit and described flutter amplitude generator, be connected, for the amplitude of described product signal and described flutter amplitude signal are subtracted each other, obtain the second difference, described the second difference is the dead band of electrohydraulic servo system.
Preferably, the testing apparatus in the described electrohydraulic servo system dead band based on the self adaption flutter also comprises the dead band display unit, with described the second subtractor, is connected, and for receiving described the second difference, and described the second difference is shown.
The pitch instruction of the normal operating load point of unit that preferably, the working signal of described working signal generator output is electrohydraulic servo system to be measured.
Preferably, the CF center frequency of described band-pass filter is identical with the frequency of described vibrating signal.
The order of magnitude of the amplitude of the vibrating signal that preferably, described Signal generator of vibration is exported is identical with the order of magnitude in the dead band of electrohydraulic servo system to be measured.
Preferably, the frequency of the vibrating signal of described Signal generator of vibration output is less than the response frequency of oil engine in electrohydraulic servo system.
The order of magnitude of the flutter amplitude signal that preferably, described flutter amplitude generator is exported is identical with the order of magnitude in the dead band of electrohydraulic servo system to be measured.
The beneficial effects of the utility model are, the testing apparatus in a kind of electrohydraulic servo system dead band based on the self adaption flutter proposed, can measure the dead band size of electrohydraulic servo system, vibrating signal wherein can carry out adaptive adjustment according to the difference of electrohydraulic servo system dead band size, finally obtain the dead band size of electrohydraulic servo system, this measurement scheme is simple to operate, easily realizes.
For above and other purpose of the present utility model, feature and advantage can be become apparent, preferred embodiment cited below particularly, and coordinate appended graphicly, be described in detail below.
The accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technological scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The structural representation of the mode of execution one of the testing apparatus in a kind of electrohydraulic servo system dead band based on the self adaption flutter that Fig. 1 provides for the utility model embodiment;
The structural representation of the mode of execution two of the testing apparatus in a kind of electrohydraulic servo system dead band based on the self adaption flutter that Fig. 2 provides for the utility model embodiment;
Fig. 3 measures the schematic diagram in electrohydraulic servo system dead band for the testing apparatus that provides of application the utility model in specific embodiment;
The circuit diagram of adder in the specific embodiment that Fig. 4 provides for the utility model;
The circuit diagram of subtractor in the specific embodiment that Fig. 5 provides for the utility model;
The circuit diagram of multiplier in the specific embodiment that Fig. 6 provides for the utility model;
The circuit diagram of band-pass filter in the specific embodiment that Fig. 7 provides for the utility model;
The circuit diagram of amplitude detection circuit in the specific embodiment that Fig. 8 provides for the utility model.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technological scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, rather than whole embodiments.Embodiment based in the utility model, those of ordinary skills are not making under the creative work prerequisite the every other embodiment who obtains, and all belong to the scope of the utility model protection.
The structural representation of the mode of execution one of the testing apparatus in a kind of electrohydraulic servo system dead band based on the self adaption flutter that Fig. 1 provides for the utility model embodiment, as shown in Figure 1, the testing apparatus in the electrohydraulic servo system dead band based on the self adaption flutter specifically comprises in mode of execution one:
Signal generator of vibration 100, by multiplier 900, with adder 300, be connected, for exporting vibrating signal, vibrating signal is such as being Asin (ω t) Asin (ω t), the order of magnitude of the vibrating signal amplitude A of described Signal generator of vibration output is identical with the order of magnitude in the dead band of electrohydraulic servo system to be measured, and the frequencies omega of vibrating signal is less than the response frequency of oil engine in electrohydraulic servo system;
Described adder 300, with described working signal generator 200 and described multiplier 900, be connected respectively,, obtain superposed signal, and described superposed signal is sent to electrohydraulic servo system to be measured by superposeing with working signal after described multiplier for described vibrating signal;
Band-pass filter 400, be connected with described electrohydraulic servo system, for receiving the voltage signal of described electrohydraulic servo system LVDT output, and described voltage signal carried out to the filtering processing.The CF center frequency of band-pass filter is identical with the frequency of described vibrating signal.
The first amplitude detection circuit 500, be connected with described band-pass filter 400, the amplitude of the voltage signal after processing for detection of filtering;
Described the first subtractor 700, be connected with described flutter amplitude generator 600 and described the first amplitude detection circuit 500, for the amplitude by described voltage signal and described flutter amplitude signal, subtracts each other, and obtains the first difference;
PI proportional and integral controller 800, be connected with described the first subtractor 700 and described multiplier 900, for according to described the first difference export ratio integral coefficient;
Described multiplier 900, be connected with described pi regulator 800 and described Signal generator of vibration 100, for described vibrating signal and described proportion integral modulus are multiplied each other, obtains product signal, and described product signal is inputed to described adder;
The second amplitude detection circuit 1000, be connected with described multiplier 900, for detection of the amplitude of described product signal;
The second subtractor 1100, with described the second amplitude detection circuit 1000 and described flutter amplitude generator 600, be connected, for the amplitude of described product signal and described flutter amplitude signal are subtracted each other, obtain the second difference, described the second difference is the dead band of electrohydraulic servo system.
The structural representation of the mode of execution two of the testing apparatus in a kind of electrohydraulic servo system dead band based on the self adaption flutter that Fig. 2 provides for the utility model embodiment, as shown in Figure 2, in mode of execution two, the all parts of testing apparatus in mode of execution one in the electrohydraulic servo system dead band based on the self adaption flutter, also comprise dead band display unit 1200, be connected with described the second subtractor 1100, for receiving described the second difference, and described the second difference shown.So, testing apparatus can demonstrate the dead band of voltage servo-system to be measured intuitively, is user-friendly to.
Below in conjunction with specific embodiment, introduce in detail the technical solution of the utility model.Fig. 3 is the schematic diagram in the testing apparatus mensuration electrohydraulic servo system dead band in the electrohydraulic servo system dead band based on the self adaption flutter that in specific embodiment, application the utility model provides, as shown in Figure 3:
The vibrating signal Asin (ω t) of Signal generator of vibration output superposes with working signal by after multiplier.The vibrating signal of practical function is the output A'Asin (ω t) of multiplier, and A' is the output of pi regulator here, if A' increases, vibrating signal is strengthened; If A' reduces, vibrating signal weakens.
After electrohydraulic servo system receives described superposed signal, through servo card PID, electro-control converter, oil engine, the displacement of electrohydraulic servo system output is converted into magnitude of voltage V by high accuracy displacement sensor LVDT
s, because the frequency of vibrating signal is fixed, the bandpass filtering modules block equated with the vibrating signal frequency by CF center frequency, from V
sin isolate only relevant to vibrating signal part, through the first amplitude detection module, obtain and represent electrohydraulic servo system flutter amplitude A
d.If the amplitude of the output A'Asin of multiplier (ω t) is less, i.e. the fluctuation of vibrating signal does not cause the variation of electrohydraulic servo system displacement, does not overcome its dead band size,
act on pi regulator, A' increases; If the amplitude of vibrating signal can overcome the dead band of electrohydraulic servo system, vibrating signal can cause the larger variation of electrohydraulic servo system displacement,
act on pi regulator, A' reduces.Therefore after system stability, the actual magnitude A'A of Signal generator of vibration deducts the given amplitude of flutter
be electrohydraulic servo system dead band size.
In this specific embodiment, the model of Signal generator of vibration is DG1032Z, the model of working signal generator is DG1032Z, the model of flutter amplitude generator is DG1032Z, adder, subtractor, multiplier are realized by the circuit shown in Fig. 4, Fig. 5, Fig. 6 respectively, band-pass filter is realized by the wave filter shown in Fig. 7, the first amplitude detection circuit, the second amplitude detection circuit realize by the circuit shown in Fig. 8, the model of pi regulator is XMPA-3000, and the model of dead band display unit is ADS1022C.
Below take Fig. 3 as example, the detailed process of the testing apparatus mensuration electrohydraulic servo system that uses the utility model to provide is provided in detail.
1. set the working signal of electrohydraulic servo system, i.e. pitch instruction, the pitch instruction when size of working signal should be the normal operating load point of unit.
2. after stablizing, vibrating signal amplitude A is set
* dgive a working signal stack vibrating signal Asin (ω t) of electrohydraulic servo system, if never larger displacement (for the minor fluctuations of itself) of electrohydraulic servo system, illustrate that the vibrating signal amplitude is less than the dead band of electrohydraulic servo system.
3. now increase the amplitude of vibrating signal, until the electrohydraulic servo system system has had larger displacement.
4. the amplitude of vibrating signal can automatically adjust according to the dead band size of electrohydraulic servo system here, and its auto-adaptive control scheme principle as shown in Figure 3.
5. electrohydraulic servo system dead band size equals the actual magnitude A'A of Signal generator of vibration after system stability and deducts the given amplitude of flutter
.
6. given vibrating signal amplitude A in scheme
* dthe big or small order of magnitude should with electrohydraulic servo system dead band sizableness.In vibrating signal Asin (ω t), the big or small order of magnitude of amplitude A should with electrohydraulic servo system dead band sizableness, frequencies omega should be less than the response frequency of oil engine in electrohydraulic servo system.
The testing apparatus that the utility model provides, can be packaged into hardware facility, and it is input as the voltage signal of LVDT output, and its output signal is directly delivered in the servo card of servo-system.The bandpass filtering modules block of using in the utility model, amplitude detection circuit, pi regulator, Signal generator of vibration can also be as required, by digital circuit or utilize the analog amount circuit to realize.
In sum, useful achievement of the present utility model is: the testing apparatus that a kind of electrohydraulic servo system dead band based on the self adaption flutter is provided, can measure the dead band size of electrohydraulic servo system, vibrating signal in this testing apparatus can carry out adaptive adjustment according to the difference of electrohydraulic servo system dead band size simultaneously, finally obtains the dead band size of electrohydraulic servo system.This measurement is simple to operate, easily realizes.
One of ordinary skill in the art will appreciate that all or part of flow process realized in above-described embodiment system, can come the hardware that instruction is relevant to complete by computer program, described program can be stored in general computer read/write memory medium, this program, when carrying out, can comprise the flow process as the embodiment of above-mentioned each system.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access Memory, RAM) etc.
Applied specific embodiment in the utility model principle of the present utility model and mode of execution are set forth, above embodiment's explanation is just for helping to understand of the present utility model and core concept; , for one of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, in sum, this description should not be construed as restriction of the present utility model simultaneously.
Claims (7)
1. the testing apparatus in the electrohydraulic servo system dead band based on the self adaption flutter, is characterized in that, the testing apparatus in the described electrohydraulic servo system dead band based on the self adaption flutter specifically comprises:
Signal generator of vibration, be connected with adder by multiplier, for exporting vibrating signal;
The working signal generator, be connected with described adder, for the output services signal;
Described adder, with described working signal generator and described multiplier, be connected respectively,, obtain superposed signal, and described superposed signal is sent to electrohydraulic servo system to be measured by superposeing with working signal after described multiplier for described vibrating signal;
Band-pass filter, be connected with described electrohydraulic servo system, for receiving the voltage signal of described electrohydraulic servo system displacement transducer LVDT output, and described voltage signal carried out to the filtering processing;
The first amplitude detection circuit, be connected with described band-pass filter, the amplitude of the voltage signal after processing for detection of filtering;
Flutter amplitude generator, be connected with the first subtractor, for exporting the flutter amplitude signal;
Described the first subtractor, be connected with described flutter amplitude generator and described the first amplitude detection circuit, for the amplitude by described voltage signal and described flutter amplitude signal, subtracts each other, and obtains the first difference;
The PI proportional and integral controller, be connected with described the first subtractor and described multiplier, for according to described the first difference export ratio integral coefficient;
Described multiplier, be connected with described pi regulator and described Signal generator of vibration, for described vibrating signal and described proportion integral modulus are multiplied each other, obtains product signal, and described product signal is inputed to described adder;
The second amplitude detection circuit, be connected with described multiplier, for detection of the amplitude of described product signal;
The second subtractor, with described the second amplitude detection circuit and described flutter amplitude generator, be connected, for the amplitude of described product signal and described flutter amplitude signal are subtracted each other, obtain the second difference, described the second difference is the dead band of electrohydraulic servo system.
2. the testing apparatus in the electrohydraulic servo system dead band based on the self adaption flutter according to claim 1, it is characterized in that, the testing apparatus in the described electrohydraulic servo system dead band based on the self adaption flutter also comprises the dead band display unit, with described the second subtractor, be connected, for receiving described the second difference, and described the second difference is shown.
3. the testing apparatus in the electrohydraulic servo system dead band based on the self adaption flutter according to claim 1, is characterized in that, the pitch instruction of the normal operating load point of unit that the working signal of described working signal generator output is electrohydraulic servo system to be measured.
4. the testing apparatus in the electrohydraulic servo system dead band based on the self adaption flutter according to claim 1, is characterized in that, the CF center frequency of described band-pass filter is identical with the frequency of described vibrating signal.
5. the testing apparatus in the electrohydraulic servo system dead band based on the self adaption flutter according to claim 1, it is characterized in that, the order of magnitude of the amplitude of the vibrating signal of described Signal generator of vibration output is identical with the order of magnitude in the dead band of electrohydraulic servo system to be measured.
6. the testing apparatus in the electrohydraulic servo system dead band based on the self adaption flutter according to claim 5, is characterized in that, the frequency of the vibrating signal of described Signal generator of vibration output is less than the response frequency of oil engine in electrohydraulic servo system.
7. the testing apparatus in the electrohydraulic servo system dead band based on the self adaption flutter according to claim 1, is characterized in that, the order of magnitude of the flutter amplitude signal of described flutter amplitude generator output is identical with the order of magnitude in the dead band of electrohydraulic servo system to be measured.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320492971.3U CN203384159U (en) | 2013-08-13 | 2013-08-13 | Device for detecting electro hydraulic servo system dead zone based on self-adapting vibration |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320492971.3U CN203384159U (en) | 2013-08-13 | 2013-08-13 | Device for detecting electro hydraulic servo system dead zone based on self-adapting vibration |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103423239A (en) * | 2013-08-13 | 2013-12-04 | 国家电网公司 | Measuring device and method for dead areas of electro-hydraulic servo system with self-adapting flutter |
-
2013
- 2013-08-13 CN CN201320492971.3U patent/CN203384159U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103423239A (en) * | 2013-08-13 | 2013-12-04 | 国家电网公司 | Measuring device and method for dead areas of electro-hydraulic servo system with self-adapting flutter |
| CN103423239B (en) * | 2013-08-13 | 2015-09-02 | 国家电网公司 | Based on testing apparatus and the method in the electrohydraulic servo system dead band of self adaption flutter |
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Granted publication date: 20140108 |