WO2007141839A1

WO2007141839A1 - Testing device and method of controlling drive of testing device

Info

Publication number: WO2007141839A1
Application number: PCT/JP2006/311221
Authority: WO
Inventors: Yoshikazu Yasuda
Original assignee: Shimadzu Corporation
Priority date: 2006-06-05
Filing date: 2006-06-05
Publication date: 2007-12-13
Also published as: JPWO2007141839A1; JP4793444B2

Abstract

A testing device has actuators for applying a load on a sample, a sensor for detecting a displacement of or load on the sample, a first calculation section for calculating the difference between a signal from the sensor and a target signal, a second calculation section for calculating the difference between displacements or loads of the actuators, and a control section for individually driving and controlling the actuators based on the calculation results of the first and the second calculation section.

Description

Specification

Test apparatus and drive control method of test apparatus

Technical field

[0001] The present invention relates to a test apparatus for performing various tests such as a fatigue test and a strength test by loading a specimen using a plurality of actuators.

Background art

[0002] In a test apparatus that applies a load to a specimen using a plurality of actuators, the displacement amount of one finisher (referred to as “actuator B”) is detected, and the other actuator (actuator A and There is something that controls. In such a test apparatus, since the actuator A is controlled following the operation of the actuator B, the reaction time of the actuator A is delayed. Therefore, by using a digital signal processing processor, the control target value of Actuator A is immediately calculated based on the displacement detection signal of Actuator B, and the delay in the reaction time of Actuator A is eliminated. Is known (see Patent Document 1).

Patent Document 1: Japanese Patent Application Laid-Open No. 11 44623

Disclosure of the invention

Problems to be solved by the invention

[0004] In the test apparatus disclosed in Patent Document 1, even if a digital signal processing processor capable of high-speed calculation is used, the actuator B does not operate, and the operation of the actuator A is not started. The reaction time delay cannot be completely eliminated. In order to solve such a problem in the conventional test apparatus, there is a need for a test apparatus that can appropriately control the operations of a plurality of actuators without delaying each other.

Means for solving the problem

[0005] A test apparatus according to the present invention includes a plurality of actuators for loading a specimen, a sensor for detecting displacement or load of the specimen, and a first for calculating a difference between a sensor signal and a target signal. Based on the calculation results of the calculation unit, the second calculation unit that calculates the displacement or load difference of the plurality of actuators, and the first calculation unit and the second calculation unit, And a control unit for driving and controlling each of the actuators.

In the above test apparatus, the control unit uses a PID control method based on the servo valve for controlling the hydraulic pressure of each of the plurality of actuators and the calculation results of the first calculation unit and the second calculation unit. It is preferable that the actuator has a PID control unit for driving and controlling the servo valve, and the plurality of actuators are driven according to the hydraulic pressure controlled by the servo valve.

Further, in the above test apparatus, the second calculating unit calculates a difference obtained by subtracting the average value of the displacement amount or the load amount of each of the actuators for each of the actuators, and the control unit Each of the actuators can be driven and controlled based on the difference calculated by the first calculation unit and the difference calculated for each of the actuators by the second calculation unit.

In this test apparatus, the second calculation unit further includes a predetermined correction coefficient that is set in advance to the difference obtained by subtracting the average value of the displacement amount or load amount of each of the actuators. The controller calculates a correction value for each actuator, and the control unit calculates the difference force calculated by the first calculation unit based on the value obtained by subtracting the correction value calculated for each actuator by the second calculation unit. It is preferable to drive and control each actuator.

A test apparatus drive control method according to the present invention is a test apparatus drive control method for driving and controlling each of the actuators in a test apparatus having a plurality of actuators for loading the specimen. The displacement or load is detected, the difference between the detected displacement or load of the specimen and the target displacement or target load is calculated, the difference between the displacements or loads of multiple actuators is calculated, and each calculated difference is calculated. Based on the above, each of the plurality of actuators is driven and controlled. The invention's effect

[0006] According to the present invention, the operations of a plurality of actuators can be appropriately controlled without delaying each other.

Brief Description of Drawings

FIG. 1 is a block diagram of a test apparatus according to an embodiment of the present invention. FIG. 2 is a graph showing an example of the internal stroke displacement amount of each actuator obtained when the magnitude of the external displacement setting signal is periodically changed in the test apparatus of the present invention.

FIG. 3 is a block diagram of a conventional test apparatus.

FIG. 4 is a graph showing an example of the internal stroke displacement amount of each actuator obtained when the magnitude of the external displacement setting signal is periodically changed in a conventional test apparatus.

FIG. 5 is a block diagram of a test apparatus according to a modification of the present invention.

FIG. 6 is a block diagram of a test apparatus having three or more actuators according to another embodiment of the present invention.

Explanation of symbols

[0008] la, lb, lc: Actuator 2a, 2b, 2c: Servo valve

3a, 3b, 3c: PID controller 4a, 4b, 4c: Subtractor

5a, 5b, 5c: Subtractor 6a, 6b, 6c: Operation unit

7: Displacement meter 8: Specimen

BEST MODE FOR CARRYING OUT THE INVENTION

[0009] First Embodiment

A block diagram of an electrohydraulic servo type test apparatus according to an embodiment of the present invention is shown in FIG. This test apparatus has a pair of actuators la and lb. In order to control the actuators la and lb, a pair of servo valves 2a and 2b, a PID controller 3a and 3b, a subtractor 4a and 4b, a subtractor, respectively. 5a and 5b, and arithmetic units 6a and 6b are provided. Further, a displacement meter 7 commonly used for controlling the actuators la and lb is provided. Using these components, feedback tests are performed on the actuators la and lb and the specimen 8 is loaded, so that load tests using various structures are performed. For example, the seismic isolation rubber fatigue test is performed by periodically changing the displacement of the actuators la and lb using the base isolation rubber for the specimen 8.

[0010] The specimen 8 is supported by a support frame (not shown), and loads corresponding to the respective displacement amounts are applied from the actuators la and lb. When the specimen 8 is deformed by applying loads from the actuators la and lb, the displacement meter 7 detects the displacement of the specimen 8 caused by the deformation. Displacement meter 7 excludes the detection result of displacement amount of specimen 8. It is output to the subtracters 5a and 5b as a partial displacement signal.

[0011] As described above, the external displacement signal indicating the displacement of the specimen 8 is input from the displacement meter 7 to the subtracters 5a and 5b, and the displacement of the specimen 8 is measured with respect to the actuators la and lb. An external displacement setting signal for setting a target value is input. Subtractors 5a and 5b calculate the difference between the input external displacement signal and the external displacement setting signal (hereinafter referred to as an external displacement difference), and output the calculation results to subtractors 4a and 4b, respectively.

[0012] Each of the actuators la and lb detects the amount of internal stroke displacement, and outputs the detection result to the arithmetic units 6a and 6b as internal displacement signals A and B, respectively. The arithmetic units 6a and 6b calculate the average value of these signals, that is, (A + B) Z2 and multiply by the correction coefficient k from the internal displacement signal A or B, respectively, and subtract the subtraction units 4a and 4 Output for each b. At this time, the calculator 6a calculates a value obtained by subtracting the average value of the internal displacement signals A and B from the internal displacement signal A (hereinafter referred to as internal displacement difference A), and further corrects the internal displacement difference A. The value multiplied by the coefficient k (hereinafter referred to as the internal displacement difference A correction value) is calculated. On the other hand, the calculator 6b calculates a value obtained by subtracting the average value of the internal displacement signals A and B from the internal displacement signal B (hereinafter referred to as internal displacement difference B), and further calculates the correction coefficient k to the internal displacement difference B. The value multiplied by (hereinafter referred to as the internal displacement difference B correction value) is calculated. The correction coefficient k is a correction coefficient determined in accordance with the gain ratio between the external control and the internal control in the actuators la and lb, that is, the ratio of the gain with respect to the external displacement signal and the gain with respect to the internal displacement signal. ing.

[0013] The subtractors 4a and 4b respectively represent the difference between the external displacement difference output from the subtracters 5a and 5b and the internal displacement difference A or B output from the calculator 6a or 6b, respectively. Calculate. The calculated difference is output to the PID control units 3a and 3b, respectively. At this time, the subtractor 4a calculates a value (hereinafter referred to as a control value A) obtained by subtracting the correction value of the internal displacement difference A calculated by the calculator 6a from the external displacement difference calculated by the subtractor 5a. Output to PID control unit 3a. On the other hand, the subtractor 4b calculates a value (hereinafter referred to as a control value B) obtained by subtracting the correction value of the internal displacement difference B calculated by the calculator 6b from the external displacement differential force calculated by the subtractor 5b. Output to PID control unit 3b.

[0014] PID control units 3a and 3b are connected to control values A output from subtracters 4a and 4b, respectively. And based on the control value B, the servo valves 2a and 2b are controlled so that the internal stroke displacement amounts of the actuators la and lb coincide with the corresponding control value A or B. At this time, a control method called PID control is used. The servo valves 2a and 2b are driven according to the control of the PID control units 3a and 3b, respectively, and control the hydraulic pressure applied to the actuators la and lb, respectively. The actuators la and lb are hydraulic jacks whose internal stroke displacement changes according to the hydraulic pressure received from the servo valves 2a and 2b. In this way, the actuators la and lb are driven, and a load corresponding to the driving amount is applied to the specimen 8.

[0015] By performing the control as described above in the test apparatus of FIG. 1, it is possible to synchronize the operation timings of the actuator la and the actuator lb. If one of the actuators does not operate, the other actuator It is possible to avoid a situation in which the operation of is not started. As a result, the operations of the actuators la and lb can be appropriately controlled without delaying each other.

The graph of FIG. 2 shows an example of the internal stroke displacement amounts of the actuators la and lb obtained when the magnitude of the external displacement setting signal is periodically changed in the test apparatus of FIG. In this example, the magnitude of the external displacement setting signal is changed so that the internal stroke displacement amounts of the actuators la and lb change at a frequency of 3 Hz and an amplitude of 5 mm, respectively. The graph in Fig. 2 shows that the maximum displacement delay of the actuator lb relative to the actuator la is about 0.002 seconds.

Next, a description will be given by comparing the test apparatus of FIG. 1 with a conventional test apparatus. Fig. 3 shows a block diagram of a test device that controls the actuator lb following the operation of the actuator la as an example of a conventional test device.

The test apparatus of FIG. 3 calculates the difference between the input external displacement setting signal and the external displacement signal output from the displacement meter 7 by the subtractor 5a, and outputs the calculation result to the PID control unit. The actuator la is displaced by inputting to 3a and controlling the servo valve 2a. Also, the difference between the internal displacement signals A and B output from the actuators la and lb is calculated in the calculator 6, and the calculation result is input to the PID controller 3b to control the servo knob 2b. Actuator lb is driven. In this way By controlling the actuator lb following the movement of la, a load corresponding to the driving amount of each of the actuators la and lb is applied to the specimen 8.

FIG. 4 shows an example of the internal stroke displacement amounts of the actuators la and lb obtained when the magnitude of the external displacement setting signal is periodically changed in the test apparatus of FIG. In this example as well, as in the graph of Fig. 2, the magnitude of the external displacement setting signal is changed so that the internal stroke displacement of the actuators la and lb changes at a frequency of 3 Hz and an amplitude of 5 mm, respectively. According to the graph of FIG. 4, the displacement delay of the actuator lb relative to the actuator la is about 0.006 seconds at maximum, which is larger than the maximum displacement delay of about 0.002 seconds in the graph of FIG. I understand that.

As described above, as compared with the conventional test apparatus, the test apparatus of FIG. 1 can reduce the displacement delay of the other actuator relative to the one actuator 1. Therefore, the operations of the plurality of actuators can be appropriately controlled without delaying each other.

[0021] According to the first embodiment described above, the following operational effects can be obtained.

(1) Subtractor 5a and 5b calculate the difference between the external displacement signal from displacement meter 7 and the external displacement setting signal, which is a signal for setting the target displacement amount of specimen 8, as the external displacement difference To do. In addition, the difference between the displacements of the actuators la and lb is calculated as the internal displacement difference by the arithmetic units 6a and 6b. Based on these calculation results, the actuators la and lb are driven and controlled by the subtractors 4a and 4b, the PID control units 3a and 3b, and the servo valves 2a and 2b, respectively. Since it did in this way, operation | movement of several actuators can be appropriately controlled, without mutually delaying.

[0022] (2) Since the actuators la and lb are driven according to the hydraulic pressure controlled by the servo valves 2a and 2b, the operations of the plurality of actuators are appropriately controlled without delaying each other. An electrohydraulic servo type test apparatus can be realized.

[0023] (3) In the calculators 6a and 6b, a difference obtained by subtracting the average value of the displacement amounts of the respective actuators from the displacement amount of either the actuator la or lb is calculated for each of the actuators, and based on the calculated difference, It was decided to drive and control each actuator. Specifically, in the arithmetic unit 6a, an internal displacement representing the displacement amount of the actuator la The internal displacement difference A is calculated by subtracting the average value of the internal displacement signal A and the internal displacement signal B representing the displacement amount of the actuator lb from the signal A, and then the internal displacement difference A is multiplied by the correction factor k. Thus, the correction value of the internal displacement difference A is calculated. In addition, the arithmetic unit 6b subtracts the average value of the internal displacement signal B representing the displacement amount of the actuator la from the internal displacement signal B representing the displacement amount of the actuator lb to subtract the internal displacement difference. Calculate the correction value of the internal displacement difference B by calculating B and multiplying the internal displacement difference B by the correction coefficient k. Then, the subtractor 4a calculates a value obtained by subtracting the correction value of the external displacement differential force internal displacement difference A calculated by the subtractor 5a, and the actuator la is calculated by the PID controller 3a and the servo valve 2a based on the calculation result. In addition to driving, the external displacement differential force calculated by the subtractor 5b is calculated by subtracting the correction value of the internal displacement difference B in the subtractor 4b, and the PID control unit 3b and servonove 2b are calculated based on the calculation result. Therefore, the actuator lb was driven. As a result, the two actuators can be controlled in accordance with the target values, and can be controlled so that there is no difference in displacement between the two actuators.

In the above embodiment, a test apparatus as shown in FIG. 5 can be used instead of the test apparatus shown in FIG. This test apparatus is provided with a subtracter 9 instead of the arithmetic units 6a and 6b, and the subtracter 9 calculates a difference between the internal displacement signals A and B. The calculated difference is output to the subtracters 4a and 4b. Subtractors 4a and 4b calculate the difference between the external displacement difference output from subtracters 5a and 5b, respectively, and the difference between internal displacement signals A and B output from subtractor 9, respectively. Output to 3b respectively. Even in this case, when the displacement amount of either one of the actuators is large, the drive amount of the other actuator is larger than the drive amount of the other actuator, so that there is a difference between the displacements of both of the actuators. It can be controlled like this.

[0025] Second Embodiment

In the first embodiment described above, the test apparatus having two actuators has been described. However, a similar control method can be applied to a test apparatus having three or more actuators. FIG. 6 shows a block diagram when applied to a test apparatus having three actuators la, lb and lc. Furthermore, the actuator la, lb and lc The distance between the load points where each specimen 8 is loaded shall be the same. That is, each load point is arranged on the specimen 8 in a regular triangle shape. In this test equipment, the external displacement setting signal and the external displacement signal from the displacement meter 7 are input to the subtracters 5a, 5b, and 5c, respectively, and the external displacement difference is calculated in the subtractors 5a, 5b, and 5c, respectively. Input to units 4a, 4b and 4c, respectively.

[0026] Further, internal displacement signals A, B, and C are input to the calculators 6a, 6b, and 6c from the actuators la, lb, and lc, respectively. The arithmetic units 6a, 6b and 6c in this test apparatus subtract the average value of the internal displacement signals of the actuators la, lb and lc corresponding to the respective arithmetic units corresponding to the respective arithmetic units, and further multiply by the correction coefficient k. Each value is calculated. That is, the arithmetic unit 6a subtracts the average value obtained by adding the internal displacement signals A, B, and C of the actuators la, lb, and lc and dividing by 3 from the internal displacement signal A of the corresponding actuator la. The value multiplied by the correction coefficient k is calculated. Similarly, the calculator 6b calculates a value obtained by subtracting the above average value and multiplying the correction coefficient k by the internal displacement signal B force of the corresponding actuator lb. The calculator 6c calculates a value obtained by subtracting the above average value from the internal displacement signal C of the corresponding actuator and multiplying by the correction coefficient k. The calculation results obtained by the arithmetic units 6a, 6b and 6c are output to the subtracters 4a, 4b and 4c, respectively.

[0027] The subtractors 4a, 4b, and 4c are respectively the differences between the external displacement differences output from the subtracters 5a, 5b, and 5c and the respective calculation results output from the calculators 6a, 6b, and 6c. The calculation results are output as control values A, B, and C to the PID control units 3a, 3b, and 3c, respectively. Based on the control values A, B and C, the servo valves 2a, 2b and 2c are controlled by the PID control units 3a, 3b and 3c, respectively, so that the actuators la, lb and lc are driven, A load corresponding to the driving amount is applied to the specimen 8.

[0028] By performing the control as described above in the test apparatus of FIG. 6, the operation timings of the actuators la, lb, and lc can be synchronized. As a result, even when the three actuators are provided, the operations of the actuators la, lb and lc can be appropriately controlled without delaying each other as in the test apparatus of FIG. 4 or more By applying the same control to the actuator, the operation of each actuator can be appropriately controlled without delaying each other.

[0029] According to the second embodiment described above, in addition to the operational effects described in the second embodiment, the following operational effects can be further achieved.

(1) In the arithmetic units 6a, 6b and 6c, the internal displacement signal A, B or C force representing the displacement amount of any one of the actuators la, lb or lc. Calculation is performed for each character. The subtractor 4a, 4b is obtained by subtracting a correction value obtained by multiplying the displacement difference calculated for each actuator by the calculators 6a, 6b and 6c by the correction coefficient k from the external displacement difference calculated by the subtractor 5a. And 4c, and based on the calculation results, the actuators la, lb, and lc are driven by the PID control units 3a, 3b, and 3c and the servo valves 2a, 2b, and 2c, respectively. . Since this is done, it is possible to control three or more actuators according to the target value, and to control so that there is no difference between the displacements of both actuators.

[0030] In each of the above embodiments, the target displacement value of the specimen is set, the displacement of the specimen and the displacement of each actuator are detected, and based on the displacement target value and the detection result of the displacement, In the case of displacement control for driving and controlling a plurality of actuators, the present invention can be similarly applied to load control by replacing the displacement in each of the above embodiments with a load. it can. In other words, the load target value of the specimen is set, the load applied to the specimen and the load of each actuator are detected, and multiple actuators are driven and controlled based on the load target value and the load detection result. can do.

[0031] Each embodiment and various modifications described above are merely examples, and the features of the invention are not impaired! / As long as the present invention is not limited to these contents.

[0032] In each of the above embodiments, the first calculation unit is realized by the subtracters 5a, 5b, and 5c, the second calculation unit is realized by the calculators 6a, 6b, and 6c, and the control unit is the subtractor This is realized by 4a, 4b and 4c, PID control units 3a, 3b and 3b, and servo valves 2a, 2b and 2c. However, this is only an example, and when interpreting the invention, the above embodiment There is no limitation or restriction on the correspondence between the items described in the above and the items described in the claims.

Claims

The scope of the claims

[1] Multiple actuators for loading the specimen,

A sensor for detecting the displacement or load of the specimen;

A first calculation unit for calculating a difference between the sensor signal and the target signal;

A second calculation unit for calculating a difference between displacements or loads of the plurality of actuators, and a control for driving and controlling the plurality of actuators based on calculation results by the first calculation unit and the second calculation unit, respectively. And a testing device.

[2] In the test apparatus of claim 1,

The control unit drives and controls the servo valve by a PID control method based on a servo valve for controlling the hydraulic pressure of each of the plurality of actuators and calculation results of the first calculation unit and the second calculation unit. And a plurality of actuators each driven according to the hydraulic pressure controlled by the servonove.

[3] In the test apparatus according to claim 1 or 2,

The second calculation unit calculates, for each actuator, a difference obtained by subtracting an average value of the displacement amount or load amount of each actuator from the displacement amount or load amount of any one of the actuators,

The control unit drives and controls each of the actuators based on the difference calculated by the first calculation unit and the difference calculated for each of the actuators by the second calculation unit. Test equipment.

[4] In the test apparatus of claim 3,

The second calculation unit further multiplies a difference obtained by subtracting the average value of the displacement amount or the load amount of each actuator from the displacement amount or the load amount of any of the actuators, and a predetermined correction coefficient set in advance. A correction value is calculated for each actuator, and the control unit is based on a value obtained by subtracting a correction value calculated for each actuator by the second calculation unit by the differential force calculated by the first calculation unit. , A test apparatus that controls the drive of each actuator.

[5] In a test apparatus having a plurality of actuators for loading a specimen, A driving control method for a test apparatus for driving and controlling each of the actuators, wherein the displacement or load of the specimen is detected,

Calculating the difference between the detected displacement or load of the specimen and the target displacement or load;

Calculating the displacement or load difference of the plurality of actuators;

A drive control method for a test apparatus, wherein the plurality of actuators are driven and controlled based on the calculated differences.