CN209495822U - Loading system - Google Patents
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- CN209495822U CN209495822U CN201920365625.6U CN201920365625U CN209495822U CN 209495822 U CN209495822 U CN 209495822U CN 201920365625 U CN201920365625 U CN 201920365625U CN 209495822 U CN209495822 U CN 209495822U
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Abstract
The disclosure provides a kind of loading system.Loading system includes: vertical counterforce device, for providing reaction force for vertical actuator；Lateral counterforce device, for providing reaction force for horizontal actuator；Vertical actuator, for providing axle power to test specimen；Horizontal actuator, for providing cross force to test specimen；L-type loading beam, for carrying out horizontal displacement, vertical displacement and rotation under the Collaborative Control of vertical actuator and horizontal actuator.According to the loading system of the application, it can be achieved that coupon level displacement, the accurate control of axle power and corner.
Description
Technical field
This application involves one kind such as in the novel load of building field, field of traffic, bridge field and machinery field etc.
System and its control method can be applied to static(al), Quintic system and pseudo that high-precision tests loading section.
Background technique
In recent years, with the enlargement of engineering structure and complication and damper, shock isolating pedestal, anti-buckling support etc.
The engineer application of passive energy dissipation and isolation structure component, demand of the seismic resistance field to large scale test even full scale test are more next
It is stronger.In order to obtain accurate as far as possible, true test result, to everyway, more stringent requirements are proposed, such as: to examination
The control of part size and load time likelihood ratio effect；The application of new test method in test；Test the ability of loading equipemtn
And control performance；Test is docked with related software, the interface of pilot system is integrated；To test boundary condition mould
Quasi- order of accuarcy etc..
Since earthquake is multiaxis to the effect of structure and continually changing, and with the enlargement of engineering structure, complexity
Change and the complication of boundary condition imitation, for the earthquake response in the various situations of more preferable simulation, pilot system is also gradually
Develop to complicating, refining.
Traditional loading system is made of counter force wall 102, electro-hydraulic servo actuator A ', displacement meter and hydraulic jack B ',
As shown in Figure 1.The displacement of coupon level direction is controlled by electro-hydraulic servo actuator A ', and vertical force suffered by test specimen is by hydraulic jack B '
Load.There are the following problems for traditional loading method: cannot achieve the accurate control to corner；Axle power is loaded by manually adjusting thousand
Realize that error is very big in jin top.
As the demand to large scale even full scale test is more more and more intense, the raising of structural test technical level, with
And the fast development of Hydrauservo System, complexity and boundary condition to the collaborative work of actuator accurately realize answer
Polygamy made higher requirement.Traditional loading method does not have been carried out increasingly accurate loading condition.
In order to solve problem above, achieve the purpose that high-precision loads, the application propose a kind of novel loading system and
Loading control method.
According to the scheme of the application, the accurate control to corner can be realized, and can accurately control axle power load.
In addition, the application also can solve: in traditional loading method, horizontal direction load is by manually controlling realization, as a result
The problem of precision and low efficiency.
Utility model content
On the one hand according to the utility model, a kind of loading system is provided, comprising: vertical counterforce device, for making to be vertical
Dynamic device provides reaction force；Lateral counterforce device, for providing reaction force for horizontal actuator；Vertical actuator, for
Test specimen provides axle power；Horizontal actuator, for providing cross force to test specimen；L-type loading beam, in vertical actuator and level
Horizontal displacement, vertical displacement and rotation are carried out under the Collaborative Control of actuator.
On the other hand according to the utility model, a kind of loading control method is provided, comprising: be displaced to loading system sending,
Axle power and corner order are converted into vertical actuator and the respective displacement of targets of horizontal actuator, act on test specimen, make described
Test specimen generates movement.
By the loading system and loading control method of the application, overcomes and manually adjust jack realization in the prior art
Axle power loads the defect for causing error very big, and can realize the accurate control to corner.
The loading system and loading control method of the application can also be achieved the control of the higher precision to horizontal direction load,
Guarantee that load goes on smoothly and obtains exact test result.
Detailed description of the invention
From the explanation below with reference to attached drawing to illustrative embodiments, other features be will be apparent.
Fig. 1 shows the schematic diagram of traditional loading system；
Fig. 2 shows the schematic diagrames of loading system according to the present utility model；
Fig. 3 shows the example flow diagram of loading control method according to the present utility model；
The loading system that Fig. 4 shows the utility model is applied to scene scheme of installation for the moment；
The loading system that (a) in Fig. 5 shows the utility model is applied to scene experimental rig schematic diagram for the moment；
(b) in Fig. 5 shows the simplification geometric graph of (a) in Fig. 5；
(a) in Fig. 6 shows the schematic diagram in the case where scene one at the top of test specimen；
(b) in Fig. 6 shows the simplification geometric graph of (a) in Fig. 6；
(a) in Fig. 7 shows the schematic diagram of test specimen bottom in the case where scene one；
(b) in Fig. 7 shows the simplification geometric graph of (a) in Fig. 7；
Fig. 8 shows shear wall top displacement and angle relation in the case where application scenarios two；
Fig. 9 shows shear wall loading device schematic diagram in the case where application scenarios two.
Specific embodiment
On the one hand according to the utility model, a kind of loading system is provided, comprising: vertical counterforce device, for making to be vertical
Dynamic device provides reaction force；Lateral counterforce device, for providing reaction force for horizontal actuator；Vertical actuator, for
Test specimen provides axle power；Horizontal actuator, for providing cross force to test specimen；L-type loading beam, in vertical actuator and level
It is horizontally and vertically displaced and is rotated under the synergistic effect of actuator.
Fig. 2 illustrates the loading system according to the utility model one side.
As shown in Fig. 2, the loading system includes lateral counterforce device 202, which is used for horizontal actuation
Device provides counter-force, can be counter force wall；Vertical counterforce device 201, for providing counter-force, the vertical counter-force to vertical actuator
Device can be vertical reaction frame；Horizontal actuator and vertical actuator are shown as 2 vertical actuator B, D and 1 water in figure
Flat actuator A, however embodiment is without being limited thereto；L-type loading beam 203, in vertical actuator B, D and horizontal actuator A
Synergistic effect under be displaced, rotated.
Double leval jib 204 is also shown in Fig. 2, for constraining the rotation of L-type loading beam 203, however present embodiment is not
It is limited to this, for there is the test of rotation that can remove double leval jib 204.
Vertical actuator B, D and horizontal actuator A can be electro-hydraulic servo actuator, maximum output 200t, dominant bit
Moving is ± 250mm.Vertical reaction frame total height can be 9.5m.Counter force wall can high 5m, thick 3m.The system can be to up to 4m's
The test specimens such as wall, column carry out Quintic system or pseudo.It should be understood that numbers above is only for ease of description, be not used to this reality
It is limited with novel.
In the figure 2 example, actuator A is horizontal actuator, and one end connects counter force wall, and the other end connects L-type load
Beam 203；Actuator B, D is vertical actuator, and one end connects reaction beam, and the other end connects L-type loading beam 203.Test specimen 205 is pacified
Mounted in 203 lower section of L-type loading beam, 205 top beam of test specimen is fixedly connected with the lower edge of L-type loading beam 203 with screw rod, by test specimen
205 pedestals are anchored on pedestal.
As long as it should be understood that can be realized by the Collaborative Control of three actuator the level of L-type loading beam, vertical displacement and
Rotation, to realize target level displacement, vertical axle power and the corner of test specimen 205, three actuator and L-type loading beam 203
Connection relationship is not limited to above example.
In the above loading system L-type loading beam 203 plays the role of nonlinear transformation, for will issue to loading system
Displacement and corner order are converted into the respective displacement of targets of actuator.The setting of L-type loading beam 203 can be realized during test
The nonlinear change of the displacement meter geometric position of test specimen 205 and three actuator.Nonlinear conversion processes pass through at numerical signal
Reason device (DSP) or ASIC circuit can be realized.
The loading system can also include outer ring proportional-plus-integral controller (proportional integral
Controller, abbreviation PI controller), to realize that the accurate load to test specimen 205 controls.The loading system can also include
Detector, for obtaining true horizon displacement, corner and the practical axle power of test specimen 205.
About the specific works of outer ring PI controller and detector, will be retouched in detail referring to following loading control method
It states.
On the other hand according to the utility model, a kind of loading control method is also provided, comprising: issue position to loading system
Shifting, axle power and corner order, are converted into vertical actuator and the respective displacement of targets of horizontal actuator, act on test specimen 205,
Test specimen 205 is set to generate movement.
This method can further include: by nonlinear transformation, by the displacement issued to the loading system, axle power
The vertical actuator and the respective displacement of targets of horizontal actuator are converted into corner order；By detector, test specimen is obtained
205 true horizon displacement, corner and practical axle power；By outer ring PI controller to horizontal displacement and corner, practical axle power
Error is constantly corrected until reaching precision prescribed, to realize the control to displacement and corner.
Wherein, being modified by error of the outer ring PI controller to axle power error and horizontal displacement and corner can wrap
Include: it is poor that axle power suffered by the true horizon displacement of displacement, corner, axle power order and test specimen 205, corner and reality is made, and is
The control error of system, then be modified by outer ring PI controller, until the control error of system is narrowed down in tolerance interval
It is interior.
Fig. 3 shows the example flow diagram of the loading control method.In Fig. 3, dc、NcAnd θcRespectively indicate order displacement,
Axle power and corner；PI controller is outer ring PI controller；G1For displacement, axle power and corner will be ordered to be converted into actuator A, B, D
Displacement of targets nonlinear transformation；G2The non-linear change of 205 actual axial force of test specimen is converted into for the power output by actuator A, B, D
It changes；G3(to be in this instance linear variable difference transformer (Linear Variable by outer displacement sensor
Differential Transformer, LVDT)) measured displacements are converted into the non-linear change of 205 actual displacement of test specimen, corner
It changes；d1c、d2cAnd d3cRespectively indicate the displacement of targets of actuator A, B and D； PI_d1、PI_d2And PI_d3Respectively indicate actuator
A, the inner ring PI controller of B and D；TA、TBAnd TCThe transmission function of actuator A, B and D are respectively indicated, is added to simulate actuator
It carries；d1' be displaced for 205 real standard of test specimen, N ' is the practical axle power of test specimen 205, and θ ' is 205 top actual rotational angle of test specimen.
With reference to Fig. 3 description according to the example of the loading control method of the utility model one side.In this example, with Fig. 2
Shown in for loading system, wherein there are two vertical actuator B, D and a horizontal actuator A.
This method comprises the following steps: firstly, displacement, axle power and corner order are issued to loading system, by non-linear
Convert G1, it is converted into the respective displacement of targets of actuator A, B and D；Then, the displacement of targets of actuator A, B, D are sent to machine
The load of tool test simulation (Mechanical Testing &System, abbreviation MTS) system Control experiment, notices that the step is not
It is required, it can also directly or directly manipulate actuator and generate displacement of targets, so that test specimen 205 generates movement；Acquisition is made
The practical power output of dynamic device A, B and D feed back to system to acquire axle power suffered by 205 reality of test specimen to realize the control to axle power
System；True horizon displacement and the test specimen 205 of test specimen 205 are obtained by nonlinear transformation using outer displacement sensor measured displacements
The corner at top feeds back to system to realize the control to displacement and corner；It is poor that command object and the response of test specimen 205 are made, and obtains
It is modified to the control error of system, then by the same PI controller, can connect until the control error of system narrows down to
By in range.
It should be understood that method flow shown in Fig. 3 merely to description is convenient and shows an example, is not limited to
Scope of the present application.The mode for obtaining real displacement and corner from measured displacements is also not necessarily limited to nonlinear transformation, obtains test specimen 205
The mode of axle power suffered by reality is also not necessarily limited to above description, and those skilled in the art can need to use other according to the actual situation
Means, as long as practical axle power, real displacement and the corner of test specimen 205 can be obtained.Those skilled in the art can also root
The corner at 205 other positions of test specimen is taken according to actual needs, and is not limited to 205 top of test specimen.
Concrete application scene
Below by taking two concrete application scenes as an example, exist to describe the loading system and loading control method of the utility model
Application in actual tests.Two application scenarios are respectively: the test of reinforced concrete frame column anti-seismic performance, armored concrete are cut
Power wall Experiment of Mechanical Behavior.It is described below and is merely for convenience of those skilled in the art and more understands the principles of the present invention, and
It is not intended to limitation the utility model.
Application scenarios 1
Showing for loading system and loading control method is illustrated by taking the test of reinforced concrete frame column anti-seismic performance as an example below
Example application.Wherein, actuator and LVDT outer displacement sensor L1-L6Arrangement it is as shown in Figure 4.
The loading control method of the application is applied in the test of reinforced concrete frame column anti-seismic performance and implements process
It is as follows.
(1) displacement, axle power and corner order are issued to loading system, passes through nonlinear transformation G1, it is translated into actuation
The respective displacement of targets of device A, B and D, acts on test specimen 205.
If the axial rigidity of test specimen 205 is K (unit: kN/mm), then the target vertical displacement of test specimen 205 are as follows:
Then be connected with the structure coordinate of one end of each actuator is
X in formulaAi,s--- actuator is connected the abscissa of one end with structure under global coordinate system
YAi,s--- actuator is connected the ordinate of one end with structure under global coordinate system
Xc--- the abscissa (mm) of control point C under global coordinate system；
Yc--- the ordinate (mm) of control point C under global coordinate system；
TLG--- the transition matrix of local coordinate system to global coordinate system；
xAi--- actuator is connected abscissa of the one end under C point local coordinate system with structure；
yAi--- actuator is connected ordinate of the one end under C point local coordinate system with structure.
Wherein, transition matrix TLGExpression formula and C point target rotation angle θcRelated, it determines local coordinate system and whole seat
Angle between mark system, transition matrix are
In 205 motion process of test specimen, the coordinate of C is related with its initial coordinate and displacement of targets
X in formulaco--- the initial abscissa (mm) of control point C under global coordinate system；
Yco--- the initial ordinate (mm) of control point C under global coordinate system；
dc--- the displacement of targets (mm) of test specimen 205 in the horizontal direction；
dvc--- the displacement of targets (mm) of test specimen 205 in the vertical direction
So, the target elongation length of actuator is
X in formulaAi,f--- the abscissa (mm) of actuator fixing end under global coordinate system；
YAi,f--- the ordinate (mm) of actuator fixing end under global coordinate system；
dic--- the displacement of targets (mm) of actuator；
dio--- the initial length (mm) of actuator.
(2) test specimen 205 generates movement, the practical power output of actuator A, B and D is acquired, to acquire suffered by 205 reality of test specimen
Axle power is modified the system of feeding back to axle power error by outer ring PI controller to realize the control to axle power.
It takes out actuator A, B, D and L-type loading beam 203 is analyzed, as shown in (a) in Fig. 5, and simplified
For simple geometric figure, as shown in (b) in Fig. 5.In (b) in Fig. 5, O3E3、A3B3、C3D3Respectively represent actuator A,
B, D, their initial length are respectively La0、Lb0、Ld0, during the motion, length is respectively LA、LB、LD, O3、B3、C3To make
The fixing end of dynamic device, E3、A3、D3For the hinge joint of actuator and L-type loading beam 203； B3C3Level, A3D3、B3C3Length be
L, B3With O3Horizontal distance be S, vertical range H, A3E3Length is LAB；∠E3A3D3It immobilizes, is θ3.Take O3Point is seat
Origin is marked, if actuator A, B, D and x3The angle of axis positive direction is respectively γ1、γ2、γ3。
According to known conditions, the coordinate of each point can be obtained, then corresponding vector is
Due to A3D3、A3E3Length is definite value, and angle is also definite value, then can list equation
Joint type (6), (7) and (9) can acquire angle γ1、γ2、γ3, so as to obtain axle power suffered by 205 reality of test specimen
N'=F1·sinγ1+F2·sinγ2+F3·sinγ3 (10)
Axle power (kN) suffered by 205 reality of N ' in formula --- test specimen；
F1--- the practical power output (kN) of actuator A；
F2--- the practical power output (kN) of actuator B；
F3--- the practical power output (kN) of actuator D.
At the same time, 205 real standard power of test specimen can be acquired
F=F1·cosγ1+F2·cosγ2+F3·cosγ3 (11)
Horizontal force (kN) suffered by 205 reality of F in formula --- test specimen.
(3) by outer displacement sensor measured displacements, by nonlinear transformation, obtain test specimen 205 true horizon displacement and
The corner at 205 top of test specimen, constantly corrects error by the PI controller of system until reaching precision prescribed, to realize mesh
The feedback control of marker displacement and corner.
In this scenario, in some cases, pedestal has a small amount of horizontal sliding and vertical compression, at this point for test specimen
205 real displacement should deduct the change in displacement of base position, therefore should seek the resultant displacement of top C point and bottom O point.
(a) at the C of control point
It takes out LVDT outer displacement sensor L1, L2, L3 and 205 top beam of test specimen is analyzed, as shown in (a) in Fig. 6,
It is reduced to simple geometric figure, as shown in (b) in Fig. 6.
In (b) in Fig. 6, D1E1、A1B1、O1C1Respectively representing number is L1、L2、L3LVDT outer displacement sensor, movement
Length is respectively L in the process1、L2、L3, wherein A1、O1、E1For the fixed point of sensor, B1、C1、D1For sensor and structure
Hinge joint；A1O1Level, A1O1、B1C1Length be d, E1With O1Horizontal distance be s, vertical range h, C1D1Length is
L13；∠B1C1D1It immobilizes, is θ 1.Take O1Point is coordinate origin, if sensor L1、L2、L3With the angle point of x1 axis negative direction
It Wei not α1、α2、α3。
According to known conditions, the coordinate of each point: O can be written1(0,0), A1(- d, 0), B1(- d-L2cos α 2, L2
Sin α 2), C1(- L3cos α 3, L3sin α 3), E1(s, h), D1(s-L1cos α 1, h+L1sin α 1).It is then corresponding
Vector are as follows:
Since C1B1, C1D1 length are definite value, angle is also definite value, then can list equation
Joint type (12), (13) and (16) can acquire angle α 1, α 2 and α 3, so as to obtain the reality at 205 top of test specimen
Corner
θ '=∠ A1B1C1-α2 (17)
∠ A in formula (17)1B1C1It can be acquired by following formula
Global coordinate system is returned, outer displacement sensor L can be acquired2、L3Be connected the world coordinates of one end with structure
X in formula2,s--- outer displacement sensor L under global coordinate system2Be connected the abscissa (mm) of one end with structure；
Y2,s--- outer displacement sensor L under global coordinate system2Be connected the ordinate (mm) of one end with structure；
X2,f--- outer displacement sensor L under global coordinate system2The abscissa of fixing end
Y2,f--- outer displacement sensor L under global coordinate system2The ordinate of fixing end
X in formula3,s--- outer displacement sensor L under global coordinate system3Be connected the abscissa (mm) of one end with structure；
Y3,s--- outer displacement sensor L under global coordinate system3Be connected the ordinate (mm) of one end with structure；
X3,f--- outer displacement sensor L under global coordinate system3The abscissa of fixing end
Y3,f--- outer displacement sensor L under global coordinate system3The ordinate of fixing end
So as to acquire the real-time coordinates of 205 topside control sites C of test specimen in global coordinate system, the top of test specimen 205 is finally obtained
The real standard in portion is displaced dc' be
The true vertical displacement d in 205 top of test specimen can similarly be obtainedvFor
(b) at pedestal O point
Take out LVDT outer displacement sensor L4、L5、L6And 205 pedestal of test specimen is analyzed, as shown in (a) in Fig. 7,
And it is reduced to simple geometric figure, as shown in (b) in Fig. 7.
In (b) in Fig. 7, D2E2、A2B2、O2C2Respectively represent LVDT outer displacement sensor L4、L5、L6, in motion process
In, length is respectively L4、L5、L6, A2、O2、 E2For the fixed point of LVDT outer displacement sensor, B2、C2、D2For LVDT outer displacement biography
The hinge joint of sensor and pedestal；A2O2Level, A2O2、B2C2Length be d, E2With O2Horizontal distance be s ', vertical range is
H ', C2D2Length is L46；∠B2C2D2It immobilizes, is θ2.Take O2Point is coordinate origin, LVDT outer displacement sensor L4、L5、L6
With x2The angle of axis negative direction is respectively β1、β2、β3。
According to known conditions, the coordinate of each point: O can be written2(0,0), A2(- d, 0), B2(-d-L5·cosβ2,-L5·
sinβ2), C2(-L6·cosβ3,-L6·sinβ3), E2(s ' ,-h '), D2(s′-L4·cosβ1,-h '-L4·sinβ1).Then phase
The vector answered is
Due to C2B2、C2D2Length is definite value, and angle is also definite value, then can list equation
Joint type (23), (24) and (25) can acquire angle beta1、β2And β3, global coordinate system is returned, it can be in the hope of position outside LVDT
Displacement sensor L5、L6The world coordinates of one end of being connected with pedestal is
X in formula5,s--- outer displacement sensor L under global coordinate system5Be connected the abscissa (mm) of one end with pedestal；
Y5,s--- outer displacement sensor L under global coordinate system5Be connected the ordinate (mm) of one end with pedestal；
X5,f--- outer displacement sensor L under global coordinate system5The abscissa of fixing end
Y5,f--- outer displacement sensor L under global coordinate system5The ordinate of fixing end
X in formula6,s--- outer displacement sensor L under global coordinate system6Be connected the abscissa (mm) of one end with pedestal；
Y6,s--- outer displacement sensor L under global coordinate system6Be connected the ordinate (mm) of one end with pedestal；
X6,f--- outer displacement sensor L under global coordinate system6The abscissa of fixing end
Y6,f--- outer displacement sensor L under global coordinate system6The ordinate of fixing end
It is so as to acquire the horizontal and vertical displacement of pedestal
D in formulao--- the real-time horizontal displacement (mm) at pedestal O point；
Xo--- the initial abscissa (mm) at pedestal O point.
D in formulavo--- the real-time vertical displacement (mm) at pedestal O point, direction is identical as axle power direction；
Yo--- the initial ordinate (mm) at pedestal O point.
The real standard displacement of test specimen 205 can be acquired by formula (21) and (28)
d1'=dc'-do (30)
The true vertical displacement of test specimen 205 can be acquired by formula (22) and (29)
dv'=dv-dvo (31)
In conclusion nonlinear transformation G2It is determined, by the rotational angle theta ' that formula (17) acquires and the test specimen that formula (30) are acquired
205 horizontal displacement d1' system is fed back to, outer ring displacement, corner feedback control can be realized.
(4) it is poor to make command object and the response of test specimen 205, obtains the control error of system, then control by the same PI
Device is modified, until the control error of system narrows down within an acceptable range.
Repeat step (1)-(4).The realization process is that the method for considering geometrical non-linearity is fed back based on outer displacement, is obtained
205 response curve of test specimen be closest to 205 actual response of test specimen curve.The response curve and command object of test specimen 205
The degree of agreement of curve is able to reflect the case where 205 real reaction of test specimen tracking command object.
Application scenarios 2
The application is described below applied to the example under reinforced concrete shear wall stress performance test case.
In shear wall structure system, shear wall end will be by the constraint of adjacent layer wall and floor.In order to make to test
Boundary condition and actual conditions consider that the Three Degree Of Freedom load of geometrical non-linearity controls more closely, test is fed back by outer displacement
Method realizes the restricted joint angle at the top of shear wall.By carrying out finite element analysis to prototype structure, the top of test shear wall is obtained
Portion's corner and horizontal displacement are in linear approximate relationship, as shown in Figure 8.
It is described below using the loading system of the application and realizes the concrete example of shear wall top corners constraint shown in Fig. 8
Son.In the following description, various concrete restrictions are merely to describe the specific example, and be not used in limitation the utility model.
Those skilled in the art can use other limiting means according to actual needs.
Xial feed is applied according to the design axial compression ratio of test specimen first；Then, then to test specimen apply hierarchical level load, together
Shi Shixian and horizontal displacement shear wall top section corner in a linear relationship.When bearing capacity be down to peak value 80%-85% (or
When horizontal displacement is sufficiently large), load terminates.
Fig. 9 is the experimental rig for realizing shear wall test specimen vertical load, horizontal reciprocating displacement and top corners.Pass through two
Vertical actuator B, D (± 2000kN) applies vertical force, and two actuator power output summations remain unchanged during test, passes through two
Actuator shift differences are to progress corner control at the top of L-type crossbeam and test specimen.Horizontal direction by an actuator A (±
2000kN) apply reciprocal horizontal load.To prevent shear wall test specimen from plane sliding failure out occurs, sidewise restraint is applied to L-type crossbeam.
In application scenarios two load control implementation process in, test loading condition use dead axle power, become corner,
Become horizontal displacement, and corner and horizontal displacement are in linear relationship shown in Fig. 8.Specific step is as follows:
(1) command object is converted by formula (5) displacement of targets of three actuator first.
(2) displacement of targets of actuator A, B, D are then sent to the load of MTS Control experiment.
(3) displacement of actuator, the power of actuator and the displacement of LVDT outer displacement sensor are collected.Last benefit
Use G2、G3Nonlinear transformation obtains the displacement of test specimen real standard, corner and vertical axle power.
(4) it is poor to make command object and test specimen response, obtains the control error of system, then pass through the same PI controller into
Row amendment, until the control error of system narrows down within an acceptable range；(1)-(4) process of repetition.
The utility model also proposed a kind of program product of instruction code for being stored with machine-readable.Described instruction generation
When code is read and executed by machine, the above-mentioned loading control method according to the utility model embodiment can be performed.Correspondingly, it is used for
The various storage mediums for carrying this program product are also included in the disclosure of the utility model.
In the description above to the utility model specific embodiment, describes and/or show for a kind of embodiment
Feature can be used in one or more other embodiments in a manner of same or similar, in other embodiment
Feature is combined, or the feature in substitution other embodiment.
In addition, the method for each embodiment of the utility model be not limited to specifications described in or attached drawing in show
Time sequencing execute, can also be according to other time sequencings, concurrently or independently execute.Therefore, in this specification
The execution sequence of the method for description is not construed as limiting the technical scope of the utility model.
About the embodiment including above embodiments, following note are also disclosed:
1. a kind of loading system, comprising:
Vertical counterforce device, for providing reaction force for vertical actuator；
Lateral counterforce device, for providing reaction force for horizontal actuator；
Vertical actuator, for providing axle power to test specimen；
Horizontal actuator, for providing cross force to test specimen；
L-type loading beam 203, for carrying out horizontal displacement under the Collaborative Control of vertical actuator and horizontal actuator, erecting
To displacement and rotation.
2. according to loading system described in note 1, further includes:
Nonlinear transformation device, for converting institute for the displacement issued to the loading system, axle power and corner order
State vertical actuator and the respective displacement of targets of horizontal actuator；
Detector, for obtaining true horizon displacement, corner and the practical axle power of test specimen；
Outer ring PI controller, the error of real displacement and corner and practical axle power for being obtained to the detector
It is constantly modified, to realize the accurate control to test specimen.
3. the outer ring PI controller is to displacement, corner, axle power order and test specimen according to loading system described in note 2
True horizon displacement, the corner at the top of test specimen and practical axle power difference, the i.e. described error be modified, until error contracting
It is small to arrive within an acceptable range.
4. the loading system according to any one of note 1-3, which is characterized in that including 2 vertical actuator
With 1 horizontal actuator, and the vertical actuator and horizontal actuator are electro-hydraulic servo actuators, and maximum output is
200t, maximum displacement are ± 250mm.
5. the loading system according to any one of note 1-3, which is characterized in that the vertical counterforce device includes perpendicular
To reaction frame, total height 9.5m.
6. the loading system according to any one of note 1-3, which is characterized in that the transverse direction counterforce device includes anti-
Power wall, height 5m, with a thickness of 3m.
7. according to loading system described in note 1, which is characterized in that further include double leval jib, for turning to L-type loading beam
It is dynamic to be constrained.
8. a kind of loading system being attached using any of the above item carry out load control method, comprising:
Displacement, axle power and corner order are issued to the loading system, is converted into the vertical actuator and horizontal actuation
The respective displacement of targets of device, acts on test specimen, and the test specimen is made to generate movement.
9. according to method described in note 8, wherein by nonlinear transformation, by the displacement issued to the loading system,
Axle power and corner order are converted into the vertical actuator and the respective displacement of targets of horizontal actuator；
True horizon displacement, corner and the practical axle power that test specimen is obtained by detector, by outer ring PI controller to true
The error of real horizontal displacement, corner and practical axle power is constantly corrected, until reaching precision prescribed, to realize the essence to test specimen
Really control.
10. according to method described in note 9, it is described by outer ring PI controller to true horizon displacement, corner and reality
The error of border axle power, which is modified, includes:
The true horizon displacement of displacement, corner, axle power order and test specimen, corner and actual axle masterpiece is poor, obtain system
Control error, then be modified by the outer ring PI controller, until the control error of system is narrowed down in acceptable model
In enclosing.
Although being had been disclosed above by the description to specific embodiment of the utility model to the utility model,
However, it is to be understood that those skilled in the art can design in the spirit and scope of the appended claims to the utility model
Various modifications, improvement or equivalent.These modifications, improvement or equivalent should also be as being to be considered as included in the utility model
Protection scope in.
Claims (6)
1. a kind of loading system characterized by comprising
Vertical counterforce device, for providing reaction force for vertical actuator；
Lateral counterforce device, for providing reaction force for horizontal actuator；
Vertical actuator, for providing axle power to test specimen；
Horizontal actuator, for providing cross force to test specimen；
L-type loading beam, under the Collaborative Control of vertical actuator and horizontal actuator carry out horizontal displacement, vertical displacement and
Rotation.
2. loading system according to claim 1, which is characterized in that further include:
Nonlinear transformation device, it is described perpendicular for converting the displacement issued to the loading system, axle power and corner order to
To actuator and the respective displacement of targets of horizontal actuator；
Detector, for obtaining true horizon displacement, corner and the practical axle power of test specimen.
3. loading system according to claim 1 or 2, which is characterized in that including 2 vertical actuator and 1 institute
State horizontal actuator, and the vertical actuator and horizontal actuator are electro-hydraulic servo actuators, maximum output 200t, most
Big displacement is ± 250mm.
4. loading system according to claim 1 or 2, which is characterized in that the vertical counterforce device includes vertical counter-force
Frame, total height 9.5m.
5. loading system according to claim 1 or 2, which is characterized in that the transverse direction counterforce device includes counter force wall,
Height is 5m, with a thickness of 3m.
6. loading system according to claim 1, which is characterized in that further include double leval jib, for turning to L-type loading beam
It is dynamic to be constrained.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109765020A (en) * | 2019-03-21 | 2019-05-17 | 哈尔滨工业大学 | Loading system and its loading control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109765020A (en) * | 2019-03-21 | 2019-05-17 | 哈尔滨工业大学 | Loading system and its loading control method |
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