CN207393607U - The device that a kind of hydraulic servo oil cylinder synchronously loads - Google Patents
The device that a kind of hydraulic servo oil cylinder synchronously loads Download PDFInfo
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- CN207393607U CN207393607U CN201721386878.9U CN201721386878U CN207393607U CN 207393607 U CN207393607 U CN 207393607U CN 201721386878 U CN201721386878 U CN 201721386878U CN 207393607 U CN207393607 U CN 207393607U
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- oil cylinder
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Abstract
The utility model provides the device that a kind of hydraulic servo oil cylinder synchronously loads, including：Hydraulic servo oil cylinder, test tool, servo-control system, displacement sensor, load transducer.Displacement sensor and load transducer are connected respectively with servo-control system, displacement sensor and load transducer may be contained in hydraulic servo oil cylinder, test tool is arranged on testing machine, and the servo loading that test specimen is carried out by the load output of hydraulic servo oil cylinder is tested.Described device can effectively solve two oil cylinders or load evenly distributes when multiple oil cylinders (identical or relative direction) are synchronized with the movement.The control method that a kind of hydraulic servo oil cylinder synchronously loads efficiently solves the harmony of oil cylinder load in synchronous loading procedure of different output energy, solves the key issue that multiple servo-cylinders coordinate loading.
Description
Technical field
It is synchronous in particular to a kind of hydraulic servo oil cylinder the utility model is related to hydraulic servo loading system field
The device of loading.
Background technology
Hydraulic servo oil cylinder has the characteristics that thrust is big, light weight, integrated level are high, dynamic response is fast, control accuracy is high,
It is used widely in the fields such as engineering machinery, metallurgical machinery, ship, aerospace, robot.
Multiple servo-cylinders are often used in hydraulic servo loading system while some test specimen is loaded, especially
It is the difficulty of design and the manufacture that can solve hydraulic loading system using the loading of multiple oil cylinders when the load of loading is larger
Degree, while manufacture cost can also be greatlyd save, but during loading, if without effectively solving synchronous ask
Topic, can cause a large amount of wastes of the energy, reduce the precision of experiment, and serious situation there is also test specimen run-off the straight and overturning,
Each servo loading oil cylinder generates situations such as very big redundant force.
Twin-tub or multiple servo-cylinders promote test battery frock to generate horizontal movement (displacement control mode) simultaneously, by trying
It tests frock and completes application to the load of test specimen, rigidity when fixture system designs is generally according to design, therefore
Rigidity is larger, deforms very little, when cylinder movement displacement is asynchronous, can generate a very big redundant force, the redundant force is by work
Internal system consumption is filled, can not be effectively applied to by frock on test specimen, frock may be damaged when redundant force is excessive
And experimental facilities or movement is made to deflect.
The similar devices produced currently on the market, it is single that there is certain feasibility from control method and principle, still
There is the more difficult practical problem broken through from Project Realization, loading equipemtn any first is also present with even control accuracy is high again
Error, but if the rigidity of loading object is sufficiently large, control error can generate very big redundant force.So-called multichannel loading
The imagination of 1+1=2 is not fully achieved, solves to coordinate the key issue loaded well without in practice.
In view of this, it is special to propose the utility model.
Utility model content
The first of the utility model is designed to provide the device that a kind of hydraulic servo oil cylinder synchronously loads, and described device can
Effectively to solve two oil cylinders or load evenly distributes when multiple oil cylinders (identical or relative direction) are synchronized with the movement.
The second of the utility model is designed to provide the control method that a kind of hydraulic servo oil cylinder synchronously loads, the side
Method effectively solves the harmony of oil cylinder load in synchronous loading procedure of different output energy, solves multiple servo-cylinder associations
Adjust the key issue of loading.
In order to realize the above-mentioned purpose of the utility model, spy uses following technical scheme：
The utility model embodiment provides the device that a kind of hydraulic servo oil cylinder synchronously loads, including：
Hydraulic servo oil cylinder, test tool, servo-control system, displacement sensor, load transducer.
Displacement sensor and load transducer are connected respectively with servo-control system, and displacement sensor and load transducer are equal
It is arranged in hydraulic servo oil cylinder, test tool is arranged on testing machine, is tried by the load output of hydraulic servo oil cylinder
The servo loading experiment of part.
Above-mentioned set-up mode, enable displacement sensor and load transducer in time by displacement and load data transmit into
Enter servo-control system, improve the sensitivity of system.
Preferably, servo-control system includes load control and Bit andits control both of which；In the utility model, servo control
Molding formula is displacement control mode.
Load control model can be load synchronization, but the movement of transverse displacement speed, according to the test specimen of different-stiffness,
The speed of service is also different.Displacement control mode is then different, determines to turn generally by externally input pulse frequency
Dynamic angle, also some can be by directly carrying out assignment to speed and displacement.
Preferably, hydraulic servo oil cylinder promotes test tool, generates horizontal movement.
Hydraulic servo oil cylinder simultaneously advances test tool horizontal movement, same according to certain speed during movement
Step movement, this also embodies the citation form that hydraulic servo oil cylinder synchronously loads.
Preferably, the specification of hydraulic servo oil cylinder may be the same or different；Number is 2 or multiple.
In the utility model, for servo-cylinder be arranged to twin-tub or multiple servo-cylinders promote test battery work simultaneously
Dress generates horizontal movement, and hydraulic servo oil cylinder can select different specifications, adds the eurytopicity of device application.Multiple oil
Cylinder can utilize the precision that the requirement of different tests selects suitable combination to improve systematic survey.
Preferably, hydraulic servo oil cylinder is arranged on the homonymy of test tool, can also be arranged on the both sides of test tool.
The mode that this kind is set can carry out test specimen the horizontal addload of different modes.The meeting among practical work process
There are a variety of oil cylinder combined situations：
The oil cylinder of same specification synchronously pushes and pulls；The oil cylinder of different size synchronously pushes and pulls；The oil cylinder tension and compression of same specification are simultaneously deposited；
The oil cylinder tension and compression of different size are simultaneously deposited.
Preferably, hydraulic servo oil cylinder structure is single rod double acting form.
The servo-cylinder of single rod double acting form only has one end to have a piston rod, realizes bidirectional-movement, therefore also known as double cropping
Use cylinder.Hydraulic cylinder is that hydraulic energy is changed into mechanical energy, the hydraulic actuator for doing straight reciprocating motion (or pendulum motion).
Its simple in structure, reliable operation.Deceleration device when realizing reciprocating motion, can be removed from it, and without drive gap, movement
Steadily, therefore in the hydraulic system of various machineries it is used widely.
Further, hydraulic servo oil cylinder includes two hydraulic fluid chambers.
After hydraulic system structure type selecting is designed, the load of oil cylinder output is directly proportional to the pressure of oil cylinder oil pocket.
Further, hydraulic fluid chamber is provided with adjustable orifice.
Two hydraulic fluid chambers in servo-cylinder, it is easy to appear the phenomenon that pressure imbalance at work.Pass through setting
Adjustable orifice can carry out mutual pressure compensation.
The utility model embodiment provide each component superior performance of the equipment, have it is simple in structure, service life is long,
Installation is simple, it is simple and easy to operate the advantages that.
The device synchronously loaded except providing a kind of hydraulic servo oil cylinder, the utility model embodiment additionally provide one kind and adopt
The control method that multiple hydraulic servo oil cylinders synchronously load is carried out with described device, is included the following steps：
When the model of hydraulic servo oil cylinder is consistent, servo-control system control algolithm is improved, is mended by software
It repays, the average load of multiple oil cylinders is set to make the load one of each hydraulic servo oil cylinder output by backoff algorithm for adjustment benchmark
It causes；
When the model of hydraulic servo oil cylinder is inconsistent, the adjustable orifice of hydraulic fluid chamber is connected by hydraulic pipeline, is led to
The load output of different pressures between hydraulic fluid chamber is crossed, the load for making each hydraulic servo oil cylinder output is consistent；
Further, when hydraulic servo oil cylinder is set in the both sides of test tool, connection mode is interconnection.
Multiple servo-cylinders simultaneously advance test tool horizontal movement, among the process of movement, according to certain speed
It is synchronized with the movement, general high-precision servo control system control accuracy can reach 0.2%, when the total displacement of horizontal movement is
During 1000mm, control error can ensure in the range of 2mm, if single oil cylinder is not in any problem, when multiple
When oil cylinder is synchronized with the movement and (does not allow to deflect), the control error of 2mm can generate very big redundant force, at this moment can occur usually said
Other strength situation, the power may be more than that oil cylinder exports full scale value when serious, damage load transducer or other associate devices,
We can be compensated by following two modes in order to solve this problem, reached normal use, and then met experiment
It is required that：
1) improvement of servo-control system control algolithm, by the compensation of Control System Software, to weaken or eliminate other strength
Situation, avoid the generation of redundant force.
The control model of current servo control system is essentially two kinds of control modes：Load controls and displacement control mode,
Load test in the utility model is completed with displacement control mode.Load control model can be that load is same
Step, but the movement of realization transverse displacement speed, according to the test specimen of different-stiffness, the speed of service is different, this is also us
Select displacement control mode the reason for, and exactly displacement control mode can generate the nonsynchronous practical problem of above-mentioned loading and
The generation of redundant force.In order to solve this problem, the utility model has done related improvement on software, so eliminate or weaken it is extra
Power.
Load compensation algorithm is introduced inside displacement closed loop control system, using the average load of multiple oil cylinders as adjustment base
Standard, the generation that each oil cylinder is reached elimination or weakened redundant force among the process of movement using benchmark as compensation, when every
When the load that a oil cylinder generates is more than average value, backoff algorithm it can be made to carry out local directed complete set by way of load is weakened,
When the load that servo-cylinder generates is less than average value, backoff algorithm it can be made to carry out local tune by way of load is increased
It is whole.Be not in that excessive redundant force is generated by above software compensation, in the case of system worked well, can substantially expire
The demand tested enough.This compensation method can be adapted for most of kinematic systems, with the proviso that the specifications and models of more oil cylinders
Unanimously, that is to say, that for each oil cylinder under identical pressure condition, the output of load is identical.When servo oil not of uniform size
During cylinder load associated movement, which does not apply to simultaneously.In view of same size realizes that the control design case theory of big load uses
Popularity, the algorithm of the compensation has very big application space.
2) hydraulic system increases compensation circuit, avoids loading the asynchronous generation for causing redundant force from principle.
It is present with a variety of oil cylinder combined situations among practical work process：
The oil cylinder of same specification synchronously pushes and pulls；The oil cylinder of different size synchronously pushes and pulls, and the oil cylinder tension and compression of same specification are simultaneously deposited；
The oil cylinder tension and compression of different size are simultaneously deposited.
No matter which kind of situation, hydraulic compensating loop principle be all it is identical, can to avoid or weaken motion process among
The redundant force of generation.
According to the output calculation formula of oil cylinder：
The a diameter of D of cylinder tube among above formula, a diameter of d of cylinder piston rod, cylinder efficient pressure are P
As can be seen that after hydraulic system structure type selecting is designed, the load of oil cylinder output is with the pressure of oil cylinder oil pocket into just
Than.
Two hydraulic fluid chambers of servo-cylinder are connected two-by-two by adjustable orifice, the oil pocket during some cylinder movement
Hypertonia, hydraulic oil can be flowed to by throttle orifice other oil cylinders and then ensure two oil cylinder output loads uniformity, into
And eliminate redundant force.When the oil cylinder of not homonymy compensates, two chambers of oil cylinder need cross-join.
The control synchronously loaded using the multiple hydraulic servo oil cylinders of described device progress that the utility model embodiment provides
Method is synchronously loaded using more servo-cylinders, had the following advantages that：
1) multiple oil cylinders select suitable combination to improve the precision of systematic survey using the requirement of different tests；
2) maintenance cost of small-sized oil cylinder is low, reduces operating cost；
3) small-sized oil cylinder facilitates configuration fluid pressure line and filter system, simple installation stable.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described.
Fig. 1 is a kind of structure diagram of hydraulic servo oil cylinder synchronization loading device in the utility model embodiment 1；
Fig. 2 is the structure diagram of the servo-cylinder in the utility model embodiment 1.
Reference numeral：
1- hydraulic servo oil cylinders；2- test tools；
3- hydraulic fluid chambers.
Specific embodiment
The embodiment of the utility model is described in detail below in conjunction with embodiment, but those skilled in the art
It will be understood that the following example is merely to illustrate the utility model, and it is not construed as limitation the scope of the utility model.Embodiment
In the person that is not specified actual conditions, the condition suggested according to normal condition or manufacturer carries out.Life is not specified in agents useful for same or instrument
Manufacturer person is produced, is the conventional products that can be obtained by commercially available purchase.
Embodiment 1
The device carrying out practically process that multiple hydraulic servo oil cylinders synchronously load is as follows：
Displacement sensor and load transducer with servo-control system are connected respectively, and displacement sensor and load are passed
Sensor may be contained in hydraulic servo oil cylinder 1, and test tool 2 is arranged on testing machine, and the load by hydraulic servo oil cylinder 1 is defeated
Go out to carry out the servo loading experiment of test specimen.
During experiment, hydraulic servo oil cylinder promotes test tool, generates horizontal movement.2 same size list rods are double
The hydraulic servo oil cylinder of effect is arranged at test tool homonymy, and two hydraulic fluid chambers 3 are wherein included in servo-cylinder.
Servo-control system control algolithm is improved, by software compensation, the average load for setting multiple oil cylinders is
Benchmark is adjusted, the load for exporting each hydraulic servo oil cylinder by backoff algorithm is consistent.Each oil cylinder is among the process of movement
The generation for reaching elimination using benchmark as compensation or weakening redundant force, when the load that each oil cylinder generates is more than average value
When, backoff algorithm it can be made to carry out local directed complete set by way of load is weakened, be put down when the load that servo-cylinder generates is less than
During average, backoff algorithm it can be made to carry out local directed complete set by way of load is increased, pass through above software compensation, system
Be not in that excessive redundant force generates under normal operation, can substantially meet the needs of experiment.Concrete structure is as schemed
Shown in 1-2.
Embodiment 2
Displacement sensor and load transducer with servo-control system are connected respectively, and displacement sensor and load are passed
Sensor may be contained in hydraulic servo oil cylinder, and test tool is arranged on testing machine, be exported by the load of hydraulic servo oil cylinder
Carry out the servo loading experiment of test specimen.
During experiment, hydraulic servo oil cylinder promotes test tool, generates horizontal movement.3 different size list rods are double
The hydraulic servo oil cylinder of effect is arranged at test tool both sides, and two hydraulic fluid chambers are wherein included in oil cylinder.
It is connected two-by-two by adjustable orifice intersection to two oil pockets of two oil cylinders, when some oil cylinder is in the process of movement
In oil pocket hypertonia, can be flowed to by throttle orifice other oil cylinders and then ensure two oil cylinders output loads it is consistent
Property, and then eliminate redundant force.
Although illustrate and describing the utility model with specific embodiment, it will be appreciated that without departing substantially from this reality
Many other change and modification can be made in the case of new spirit and scope.It is, therefore, intended that in appended power
Profit requirement includes belonging to all such changes and modifications in the scope of the utility model.
Claims (8)
1. a kind of device that hydraulic servo oil cylinder synchronously loads, which is characterized in that including：
Hydraulic servo oil cylinder, test tool, servo-control system, displacement sensor, load transducer；
Institute's displacement sensors and load transducer are connected respectively with the servo-control system, institute's displacement sensors and load
Sensor may be contained in the hydraulic servo oil cylinder, and the test tool is arranged on testing machine, pass through the hydraulic servo
The load output of oil cylinder carries out the servo loading experiment of test specimen.
2. the apparatus according to claim 1, which is characterized in that the servo-control system includes load control and displacement control
Both of which processed, the control model are displacement control mode.
3. the apparatus according to claim 1, which is characterized in that the hydraulic servo oil cylinder pushes away test tool generation
Power is so that the test tool generates horizontal movement.
4. the apparatus according to claim 1, which is characterized in that the specification of the hydraulic servo oil cylinder is for same size or not
Same specification, the number of the hydraulic servo oil cylinder is multiple.
5. the apparatus according to claim 1, which is characterized in that the hydraulic servo oil cylinder is arranged on the test tool
Homonymy or the both sides for being separately positioned on the test tool.
6. the apparatus according to claim 1, which is characterized in that the hydraulic servo oil cylinder is single rod double acting form
Hydraulic servo oil cylinder.
7. the apparatus according to claim 1, which is characterized in that the hydraulic servo oil cylinder is comprising there are two hydraulic fluid chambers.
8. device according to claim 7, which is characterized in that be provided with adjustable stream on each hydraulic fluid chamber
Hole.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721386878.9U CN207393607U (en) | 2017-10-25 | 2017-10-25 | The device that a kind of hydraulic servo oil cylinder synchronously loads |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721386878.9U CN207393607U (en) | 2017-10-25 | 2017-10-25 | The device that a kind of hydraulic servo oil cylinder synchronously loads |
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| CN207393607U true CN207393607U (en) | 2018-05-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107524649A (en) * | 2017-10-25 | 2017-12-29 | 北京富力通达科技有限公司 | The device and control method that a kind of hydraulic servo oil cylinder synchronously loads |
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2017
- 2017-10-25 CN CN201721386878.9U patent/CN207393607U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107524649A (en) * | 2017-10-25 | 2017-12-29 | 北京富力通达科技有限公司 | The device and control method that a kind of hydraulic servo oil cylinder synchronously loads |
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