WO2020014852A1 - 一种多螺栓松脱试验机横向载荷幅值闭环控制方法 - Google Patents

一种多螺栓松脱试验机横向载荷幅值闭环控制方法 Download PDF

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WO2020014852A1
WO2020014852A1 PCT/CN2018/095875 CN2018095875W WO2020014852A1 WO 2020014852 A1 WO2020014852 A1 WO 2020014852A1 CN 2018095875 W CN2018095875 W CN 2018095875W WO 2020014852 A1 WO2020014852 A1 WO 2020014852A1
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load
amplitude
lateral load
bearing
load amplitude
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PCT/CN2018/095875
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English (en)
French (fr)
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孙清超
林清源
张豹
杨斌
穆晓凯
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Dalian University of Technology
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Dalian University of Technology
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Priority to US16/603,979 priority Critical patent/US11209327B2/en
Priority to PCT/CN2018/095875 priority patent/WO2020014852A1/zh
Publication of WO2020014852A1 publication Critical patent/WO2020014852A1/zh
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D17/00—Control of torque; Control of mechanical power
    • G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means

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  • the invention belongs to the technical field of a multi-bolt lateral load loosening tester, and relates to a closed-loop control method of a lateral load amplitude of the multi-bolt loosening tester.
  • Bolt loosening is one of the main failure forms of bolted structures.
  • Bolt loosening testers can be used to study the loosening of bolts under different working conditions.
  • the bolt loosening testers currently used can be divided into single bolt loosening testers and multi-bolt loosening testers.
  • the load that can be applied is relatively single, it is difficult to simulate the real working conditions.
  • the current multi-bolt loosening testers provide mostly fixed loads. Even if different loads can be obtained by changing the size of the part, it is difficult to accurately control the lateral load due to manufacturing and assembly errors. The cost of the load is large and the cycle is long. It is difficult to accurately and effectively simulate the real working conditions of the bolt group.
  • the closed-loop control method for the transverse load amplitude of this multi-bolt loosening tester is designed, which can provide continuous transverse load with stepless amplitude modulation for the flange bolt group, and can accurately control the transverse load value through the feedback system, which can more accurately simulate The loosening of the flange under working conditions.
  • the multi-bolt loosening test machine there is no related patent on the multi-bolt loosening test machine.
  • the purpose of the present invention is to provide a closed-loop control method of transverse load amplitude for a multi-bolt loosening tester, which can perform continuous stepless amplitude modulation of the transverse load received by a multi-bolt connection flange, and ensure the transverse direction through a feedback control system. Load accuracy.
  • a closed-loop control method for the lateral load amplitude of a multi-bolt loosening tester is used for the stepless amplitude modulation and accurate control of the lateral load of a multi-bolt loosening tester.
  • the signals collected by the sensors are analyzed, and then The calculation is performed by the PLC control system, and finally the motor control system sends instructions to control the rotation of the motor, so as to achieve stepless amplitude modulation and precise control of the lateral load;
  • the closed-loop control method is realized based on a multi-bolt loosening tester, which is composed of four parts, which are a lateral load amplitude control part, a lateral load transmission part, and a torque load transmission part. And axial load transmission;
  • the torque load transmitting part includes a torque arm 25, a reducer support frame 26, a guide rail slider 27, a bearing outer sleeve 28, a torque eccentric coupling 29, a reducer 30, and a torque servo motor 31;
  • the reducer support frame 26 is fixed on the bottom plate 40, the torque servo motor 31 is connected to the reducer 30, and the output shaft of the reducer 30 passes through the reducer support frame 26 and is fixed on the reducer support frame 26; the output shaft of the reducer 30 and The torque eccentric coupling 29 is connected together.
  • the torque eccentric coupling 29 is fixed to the upper end surface of the bearing housing 28.
  • the lower end surface of the bearing housing 28 is fixed to the slider of the guide rail slider 27.
  • On the torsion arm 25, one end of the torsion arm 25 provided with an inner hexagon head is sleeved on the outer hexagon of the thick test piece 33 and is located on the tension plate 24;
  • the axial load transmitting part includes a thin test piece 32, a thick test piece 33, a test piece bolt 34, a bearing cover 35, a thrust ball bearing 36, an upper clamping plate 37, an axial load supporting frame 38, and a hydraulic pull horse 39.
  • the thin test piece 32 and the thick test piece 33 are assembled correspondingly at the mouth; the upper end of the thick test piece 33 is assembled with a round hole at the right end of the tension plate 24, and the end of the thick test piece 33 is installed on the upper clamping plate; 37 inner ring; the bearing cover 35 passes through the upper clamping plate 37, and the thrust ball bearing 36 is sandwiched between the bearing cover 35 and the upper clamping plate 37; the hydraulic start of the hydraulic puller 39 One end of the rod is placed in a cylinder on the axial loading support frame 38, and the claw hooks on the rod catch the edge of the bearing cover 35;
  • the lateral load amplitude control part includes a second square shaft bushing 8, a square shaft bearing 9, a cross-load guide rail moving plate 10, a cross-load guide fixed base plate 11, a screw nut 12, a ball screw 13, and a servo motor unit.
  • the T-slider 16 described above is mounted on the cross-load guide rail moving plate 10 and moves together with the cross-load guide rail moving plate 10; the cross-load guide rail moving plate 10 can realize sliding on the cross-load guide fixed substrate 11
  • the guide rail fixing substrate 11 is mounted on the bottom plate 40; the T-slider 16 is connected to the screw nut 12, and the screw nut 12 is matched with the ball screw 13 and is located below the square shaft bearing 9; the ball screw 13 is connected to the servo motor 15 through the servo motor coupling 14, and the servo motor 15 is fixed on the base plate 40;
  • the transverse load transmitting part includes a spindle motor 1, a spindle motor output shaft flange 2, a square shaft flange 3, a square shaft 4, a first square shaft bushing 5, a crank bearing 6, an eccentric rocker 7, and a rocker connection.
  • rocker connecting block 18 U-shaped link 19, first linear bearing 20, elastic rod 21, force sensor 22, second linear bearing 23, tension plate 24, and bottom plate 40;
  • the spindle motor 1 is fixed On the base plate 40, the output shaft of the spindle motor 1 is connected to the square shaft 4 through the spindle motor output shaft flange 2 and the square shaft flange 3, and the square shaft 4 drives the crank bearing 6 to rotate through the first square shaft bushing 5
  • the crank bearing 6 transmits the movement to the eccentric rocker 7, and the eccentric rocker 7 and the rocker connecting block 18 are connected by a rocker connecting pin 17;
  • the U-shaped link 19 is fixed to the rocker connecting block 18;
  • And is connected to the elastic rod 21 through the first linear bearing 20, the elastic rod 21 is connected to the force sensor 22, and the lateral load is transmitted to the tension plate 24 through the second linear bearing 23;
  • Stepless amplitude modulation and precise control method of lateral load based on multi-bolt loosening tester the steps are as follows:
  • Step a) Read in the test parameters entered by the user, including the thickness d of the connected parts, the lubrication condition m between the connected parts m, the number of bolts n, the target lateral load amplitude F 0 and the allowable error e; where m 1 represents No lubrication, m 2 means some lubrication, m 3 means good lubrication;
  • Step c) Start the servo motor 15, and the ball screw 13 drives the T-slider 16 along with the cross-loading rail moving plate 10 through the screw nut 12 to move on the cross-loading rail fixed substrate 11, and adjust the T-slider 16 to the target position At point x 0 , an actual lateral load amplitude F close to the target lateral load amplitude F 0 is obtained;
  • Step d) The spindle motor 1 starts to work, while the force sensor 22 monitors the magnitude F of the actual lateral load in real time;
  • the servo motor 15 starts to start, and the T-slider 16 is quickly adjusted to the update position point x 1 , and then restarted.
  • Step f) Due to the instability of the lateral load amplitude, after the actual lateral load amplitude F reaches the requirement, that is, the difference between the actual lateral force load amplitude F and the target lateral load amplitude F 0 is smaller than the allowable error e, and continues Monitor the magnitude of the actual lateral load amplitude F and repeat step e);
  • Step g) The updated lateral load amplitude F 1 is used as the new target lateral load amplitude.
  • step a) -step g) is performed again.
  • the closed-loop control method of lateral load amplitude based on the multi-bolt loosening tester provided by the present invention can provide a flange bolt group with continuous lateral load that can be steplessly adjusted, and can be guaranteed by a closed-loop control system Accuracy of lateral loads.
  • Figure 1 is a positive triaxial view of the test bench.
  • rocker connecting block 19U type connecting rod; 20 first linear bearing; 21 elastic rod; 22 force sensor;
  • the spindle motor 1 starts to work, while the force sensor 22 monitors the magnitude of the actual lateral load amplitude F in real time.
  • the torque load transmitting part includes a torque arm 25, a reducer support frame 26, a guide rail slider 27, a bearing outer sleeve 28, a torque eccentric coupling 29, a reducer 30, and a torque servo motor 31; the reducer support frame 26 is fixed on the bottom plate 40, the torque servo motor 31 is connected to the reducer 30, and the output shaft of the reducer 30 passes through the reducer support frame 26 and is fixed on the reducer support frame 26; the output shaft of the reducer 30 and the The torque eccentric coupling 29 is connected together.
  • the torque eccentric coupling 29 is fixed to the upper end surface of the bearing housing 28.
  • the lower end surface of the bearing housing 28 is fixed to the slider of the guide rail slider 27, and the guide rail where the guide slider 27 is fixed is fixed.
  • On the torsion arm 25, one end of the torsion arm 25 provided with an inner hexagon head is sleeved on the outer hexagon of the thick test piece 33 and is located on the tension plate 24.
  • the axial load transmitting part includes a thin test piece 32, a thick test piece 33, a test piece bolt 34, a bearing cover 35, a thrust ball bearing 36, an upper clamping plate 37, an axial load supporting frame 38, and a hydraulic pull horse 39.
  • the thin test piece 32 and the thick test piece 33 are assembled correspondingly at the mouth; the upper end of the thick test piece 33 is assembled with a round hole at the right end of the tension plate 24, and the end of the thick test piece 33 is installed on the upper clamping plate; 37 inner ring; the bearing cover 35 passes through the upper clamping plate 37, and the thrust ball bearing 36 is sandwiched between the bearing cover 35 and the upper clamping plate 37; the hydraulic start of the hydraulic puller 39 One end of the rod is placed in a cylinder on the axial loading support frame 38, and the claw hooks on the rod catch the edge of the bearing cover 35;
  • the transverse load transmitting part includes a spindle motor 1, a spindle motor output shaft flange 2, a square shaft flange 3, a square shaft 4, a first square shaft bushing 5, a crank bearing 6, an eccentric rocker 7, and a rocker connection.
  • rocker connecting block 18 U-shaped link 19, first linear bearing 20, elastic rod 21, force sensor 22, second linear bearing 23, tension plate 24, and bottom plate 40;
  • the spindle motor 1 is fixed On the base plate 40, the output shaft of the spindle motor 1 is connected to the square shaft 4 through the spindle motor output shaft flange 2 and the square shaft flange 3, and the square shaft 4 drives the crank bearing 6 to rotate through the first square shaft bushing 5
  • the crank bearing 6 transmits the movement to the eccentric rocker 7, and the eccentric rocker 7 and the rocker connecting block 18 are connected by a rocker connecting pin 17;
  • the U-shaped link 19 is fixed to the rocker connecting block 18; It is connected to the elastic rod 21 through the first linear bearing 20, the elastic rod 21 is connected to the force sensor 22, and the lateral load is transmitted to the tension plate 24 through the second linear bearing 23.

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
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Abstract

一种多螺栓松脱试验机横向载荷幅值闭环控制方法，用于多螺栓松脱试验机的横向载荷无级调幅与精确控制，对传感器采集到的信号进行分析，然后通过PLC控制系统进行计算，最后对电机控制系统发出指令控制电机的转动，从而实现横向载荷的无级调幅与精确控制。该方法是基于多螺栓松脱试验机实现的，该试验机由四个部分组成，分别为横向载荷幅值控制部分、横向载荷传递部分、扭矩载荷传递部分和轴向载荷传递部分。该方法可实现为法兰盘螺栓组提供可以无级调幅的连续横向载荷，并且可以通过闭环控制系统保证横向载荷的准确性。

Description

一种多螺栓松脱试验机横向载荷幅值闭环控制方法 技术领域
本发明属于多螺栓横向载荷松脱试验机技术领域，涉及一种多螺栓松脱试验机横向载荷幅值闭环控制方法。
背景技术
螺栓松脱是螺栓连接结构的主要失效形式之一，螺栓松脱试验机可以用来研究螺栓在不同工况下的松脱情况。现在使用的螺栓松脱试验机可以分为单螺栓松脱试验机与多螺栓松脱试验机。单螺栓松脱试验机主要有Junker松脱试验机、NAS松脱试验机与电-液伺服振动试验机三种，以上三种单螺栓松脱试验机均无法对螺栓组的松脱状况进行测试，而且可施加的载荷较为单一，难以模拟真实工况。而目前的多螺栓松脱试验机，提供的横向载荷大多为固定载荷，即便可以通过改变零件尺寸来获得不同载荷，也会因为制造、装配等误差的存在导致横向载荷难以精确控制，而且调整横向载荷的代价大，周期长，很难准确有效地模拟螺栓组的真实工况。
因此设计出此多螺栓松脱试验机横向载荷幅值闭环控制方法，可以为法兰盘螺栓组提供可无级调幅的连续横向载荷，并且可以通过反馈系统精确控制横向载荷数值，更加准确地模拟法兰盘在工作状况下的松脱情况。目前在多螺栓松脱试验机方面尚无相关专利。
发明内容
本发明的目的是针对多螺栓松脱试验机提供一种横向载荷幅值闭环控制方法，能够对多螺栓连接法兰盘所受到的横向载荷进行连续的无级调幅，并且通过反馈控制系统保证横向载荷的准确性。
本发明的技术方案：
一种多螺栓松脱试验机横向载荷幅值闭环控制方法，所述的闭环控制方法用于多螺栓松脱试验机的横向载荷无级调幅与精确控制，对传感器采集到的信号进行分析，然后通过PLC控制系统进行计算，最后对电机控制系统发出指令控制电机的转动，从而实现横向载荷的无级调幅与精确控制；
所述的闭环控制方法是基于多螺栓松脱试验机实现的，所述的多螺栓松脱试验机由四个部分组成，分别为横向载荷幅值控制部分、横向载荷传递部分、扭矩载荷传递部分和轴向载荷传递部分；
所述的扭矩载荷传递部分包括扭力臂25、减速器支撑架26、导轨滑块27、轴承外套28、扭矩偏心联轴器29、减速器30和扭矩伺服电机31；所述的减速器支撑架26固定在底板40上，扭矩伺服电机31外接减速器30，减速器30的输出轴穿过减速器支撑架26，并固定在减速器支撑架26上；所述的减速器30的输出轴与扭矩偏心联轴器29连接在一起，扭矩偏心联轴器29与轴承外套28上端面固定在一起，轴承外套28下端面固定在导轨滑块27的滑块上，导轨滑块27所在的导轨固定在扭力臂25上，扭力臂25上设有内六角头的一端套在厚试件33的外六角上，位于拉力板24之上；
所述的轴向载荷传递部分包括薄试件32、厚试件33、试件螺栓34、轴承盖35、推力球轴承36、上夹持板37、轴向加载支撑架38和液压拉马39；所述的薄试件32和厚试件33止口对应装配在一起；所述的厚试件33上端与拉力板24右端圆孔装配在一起，厚试件33末端安装在上夹持板37内圈中；所述的轴承盖35穿过上夹持板37，并将推力球轴承36夹在轴承盖35与上夹持板37之间；所述的液压拉马39的油压起动杆一端置于轴向加载支撑架38上的圆筒内，其上的爪勾勾住轴承盖35边缘；
所述的横向载荷幅值控制部分包括第二方轴衬套8、方轴轴承9、横载导轨 移动板10、横载导轨固定基板11、丝杠螺母12、滚珠丝杠13、伺服电机联轴器14、伺服电机15以及T型滑块16；所述的第二方轴衬套8与方轴轴承9相连接，方轴轴承9通过过盈配合安装在T型滑块16中；所述的T型滑块16安装在横载导轨移动板10上，随横载导轨移动板10一同运动；所述的横载导轨移动板10可在横载导轨固定基板11上实现滑动，横载导轨固定基板11安装在底板40上；所述的T型滑块16与丝杠螺母12相连接，丝杠螺母12与滚珠丝杠13配合，位于方轴轴承9下方；所述的滚珠丝杠13通过伺服电机联轴器14与伺服电机15相连，伺服电机15固定在底板40上；
所述的横向载荷传递部分包括主轴电机1、主轴电机输出轴法兰2、方轴法兰3、方轴4、第一方轴衬套5、曲柄轴承6、偏心摇杆7、摇杆连接销17、摇杆连接块18、U型连杆19、第一直线轴承20、弹性杆21、力传感器22、第二直线轴承23、拉力板24以及底板40；所述的主轴电机1固定在底板40上，主轴电机1的输出轴通过主轴电机输出轴法兰2和方轴法兰3实现与方轴4的连接，方轴4通过第一方轴衬套5带动曲柄轴承6产生转动；所述的曲柄轴承6将运动传递给偏心摇杆7，偏心摇杆7与摇杆连接块18通过摇杆连接销17进行连接；所述的U型连杆19固定在摇杆连接块18上，并穿过第一直线轴承20与弹性杆21相连，弹性杆21与力传感器22相连，通过第二直线轴承23将横向载荷传递到拉力板24；
基于多螺栓松脱试验机的横向载荷无级调幅与精确控制方法，步骤如下：
步骤a)读入用户输入的各项试验参数，包括被连接件厚度d、被连接件间润滑状况m、螺栓个数n、目标横向载荷幅值F 0以及误差允许值e；其中m 1代表无润滑，m 2代表有一定润滑，m 3代表润滑良好；
步骤b)系统自动将步骤a)中的试验参数代入到修正函数K＝g(d,m,n)中，计 算出修正系数K，然后将目标横向载荷幅值F 0与修正系数K自动代入到载荷函数F＝f(x,K)中，计算获得T型滑块16的目标位置点x 0，x表示T型滑块16的位置点，其中修正函数与载荷函数存储在试验机控制器中；
步骤c)启动伺服电机15，滚珠丝杠13通过丝杠螺母12带动T型滑块16连同横载导轨移动板10一起在横载导轨固定基板11上移动，调整T型滑块16至目标位置点x 0处，得到一个接近于目标横向载荷幅值F 0的实际横向载荷幅值F；
步骤d)主轴电机1开始工作，同时力传感器22实时监测实际横向载荷幅值F大小；
步骤e)计算实际横向载荷幅值F与目标横向载荷幅值F 0的差值，Δ 1＝F-F 0，比较差值绝对值|Δ 1|与误差允许值e的大小关系，若|Δ 1|≤e，则直接进入步骤f)，若|Δ 1|＞e，则计算更新横向载荷幅值
Figure PCTCN2018095875-appb-000001
并将计算结果代入到载荷函数F＝f(x,K)中，计算得出更新位置点x 1，伺服电机15开始启动，迅速将T型滑块16微调至更新位置点x 1，然后重新对比实际横向载荷幅值F与目标横向载荷幅值F 0之间的差值；循环上述过程，直到实际横向力载荷幅值F与目标横向载荷幅值F 0之间差值小于误差允许值e；误差允许值e越小表明载荷稳定性和准确度越好，但是过小的误差允许值e会导致调节时间增长；
步骤f)由于横向载荷幅值具有不稳定性，在实际横向载荷幅值F达到要求之后，即实际横向力载荷幅值F与目标横向载荷幅值F 0之间差距小于误差允许值e，持续监测实际横向载荷幅值F的大小，并且反复进行步骤e)；
步骤g)将更新横向载荷幅值F 1作为新的目标横向载荷幅值，当用户输入新的目标横向载荷幅值F 1与误差允许值e时，重新进行步骤a)-步骤g)。
本发明的有益效果：本发明提供的基于多螺栓松脱试验机的横向载荷幅值闭环控制方法可以实现为法兰盘螺栓组提供可以无级调幅的连续横向载荷，并 且可以通过闭环控制系统保证横向载荷的准确性。
附图说明
图1为试验台的正三轴测图。
图中：1主轴电机；2主轴电机输出轴法兰；3方轴法兰；4方轴；
5第一方轴衬套；6曲柄轴承；7偏心摇杆；8第二方轴衬套；9方轴轴承；
10横载导轨移动板；11横载导轨固定基板；12丝杠螺母；13滚珠丝杠；
14伺服电机联轴器；15伺服电机；16T型滑块；17摇杆连接销；
18摇杆连接块；19U型连杆；20第一直线轴承；21弹性杆；22力传感器；
23第二直线轴承；24拉力板；25扭力臂；26减速器支撑架；27导轨滑块；
28轴承外套；29扭矩偏心联轴器；30减速器；31扭矩伺服电机；
32薄试件；33厚试件；34试件螺栓；35轴承盖；36推力球轴承；
37上夹持板；38轴向加载支撑架；39液压拉马；40底板。
具体实施方式
以下结合附图和技术方案，进一步说明本发明的具体实施方式。
试验台的结构如图1所示：
1、横向载荷幅值闭环控制方法
(1)读入用户输入的各项试验参数，包括被连接件厚度d、被连接件间润滑状况m、螺栓个数n、目标横向载荷幅值F 0以及误差允许值e；其中m 1代表无润滑，m 2代表有一定润滑，m 3代表润滑良好。
(2)系统自动将上述参数代入到修正函数K＝g(d,m,n)中，计算出修正系数K，然后将目标横向载荷幅值F 0与修正系数K自动代入到载荷函数F＝f(x,K)中，计算获得T型滑块16的目标位置点x 0，其中修正函数与载荷函数存储在试验机控制器中。
(3)启动伺服电机15，滚珠丝杠13通过丝杠螺母12带动T型滑块16连同横载导轨移动板10一起在横载导轨固定基板11上移动，调整T型滑块16至目标位置点x 0处，得到一个接近于目标横向载荷幅值F 0的实际横向载荷幅值F。
(4)主轴电机1开始工作，同时力传感器22实时监测实际横向载荷幅值F的大小。
(5)计算实际横向载荷幅值F与目标横向载荷幅值F 0的差值，Δ 1＝F-F 0，比较差值绝对值|Δ 1|与误差允许值e的大小关系，若|Δ 1|≤e，则直接进入步骤f)，若|Δ 1|＞e，则计算更新横向载荷幅值
Figure PCTCN2018095875-appb-000002
并将计算结果代入到载荷函数F＝f(x,K)中，计算得出更新位置点x 1，伺服电机15开始启动，迅速将T型滑块16微调至更新位置点x 1，然后重新对比实际横向载荷幅值F与目标横向载荷幅值F 0之间的差值；循环上述过程，直到实际横向力载荷幅值F与目标横向载荷幅值F 0之间差值小于误差允许值e；误差允许值e越小表明载荷稳定性和准确度越好，但是过小的误差允许值e会导致调节时间增长。
(6)由于横向载荷幅值具有不稳定性，在实际横向载荷幅值F达到要求之后，即实际横向力载荷幅值F与目标横向载荷幅值F 0之间差距小于误差允许值e，持续监测实际横向载荷幅值F的大小，并且反复进行(5)。
(7)将更新横向载荷幅值F 1作为新的目标横向载荷幅值，当用户输入新的目标横向载荷幅值F 1与误差允许值e时，重新进行(1)-(7)。
2、扭矩载荷传递部分
所述的扭矩载荷传递部分包括扭力臂25、减速器支撑架26、导轨滑块27、轴承外套28、扭矩偏心联轴器29、减速器30和扭矩伺服电机31；所述的减速器支撑架26固定在底板40上，扭矩伺服电机31外接减速器30，减速器30的输出轴穿过减速器支撑架26，并固定在减速器支撑架26上；所述的减速器30 的输出轴与扭矩偏心联轴器29连接在一起，扭矩偏心联轴器29与轴承外套28上端面固定在一起，轴承外套28下端面固定在导轨滑块27的滑块上，导轨滑块27所在的导轨固定在扭力臂25上，扭力臂25上设有内六角头的一端套在厚试件33的外六角上，位于拉力板24之上。
3、轴向载荷传递部分
所述的轴向载荷传递部分包括薄试件32、厚试件33、试件螺栓34、轴承盖35、推力球轴承36、上夹持板37、轴向加载支撑架38和液压拉马39；所述的薄试件32和厚试件33止口对应装配在一起；所述的厚试件33上端与拉力板24右端圆孔装配在一起，厚试件33末端安装在上夹持板37内圈中；所述的轴承盖35穿过上夹持板37，并将推力球轴承36夹在轴承盖35与上夹持板37之间；所述的液压拉马39的油压起动杆一端置于轴向加载支撑架38上的圆筒内，其上的爪勾勾住轴承盖35边缘；
4、横向载荷传递部分
所述的横向载荷传递部分包括主轴电机1、主轴电机输出轴法兰2、方轴法兰3、方轴4、第一方轴衬套5、曲柄轴承6、偏心摇杆7、摇杆连接销17、摇杆连接块18、U型连杆19、第一直线轴承20、弹性杆21、力传感器22、第二直线轴承23、拉力板24以及底板40；所述的主轴电机1固定在底板40上，主轴电机1的输出轴通过主轴电机输出轴法兰2和方轴法兰3实现与方轴4的连接，方轴4通过第一方轴衬套5带动曲柄轴承6产生转动；所述的曲柄轴承6将运动传递给偏心摇杆7，偏心摇杆7与摇杆连接块18通过摇杆连接销17进行连接；所述的U型连杆19固定在摇杆连接块18上，并穿过第一直线轴承20与弹性杆21相连，弹性杆21与力传感器22相连，通过第二直线轴承23将横向载荷传递到拉力板24。

Claims (1)

  1. 一种多螺栓松脱试验机横向载荷幅值闭环控制方法，其特征在于，所述的多螺栓松脱试验机横向载荷幅值闭环控制方法用于多螺栓松脱试验机的横向载荷无级调幅与精确控制，对传感器采集到的信号进行分析，然后通过PLC控制系统进行计算，最后对电机控制系统发出指令控制电机的转动，从而实现横向载荷的无级调幅与精确控制；
    所述的闭环控制方法是基于多螺栓松脱试验机实现的，所述的多螺栓松脱试验机由四个部分组成，分别为横向载荷幅值控制部分、横向载荷传递部分、扭矩载荷传递部分和轴向载荷传递部分；
    所述的扭矩载荷传递部分包括扭力臂(25)、减速器支撑架(26)、导轨滑块(27)、轴承外套(28)、扭矩偏心联轴器(29)、减速器(30)和扭矩伺服电机(31)；所述的减速器支撑架(26)固定在底板(40)上，扭矩伺服电机(31)外接减速器(30)，减速器(30)的输出轴穿过减速器支撑架(26)，并固定在减速器支撑架(26)上；所述的减速器(30)的输出轴与扭矩偏心联轴器(29)连接在一起，扭矩偏心联轴器(29)与轴承外套(28)上端面固定在一起，轴承外套(28)下端面固定在导轨滑块(27)的滑块上，导轨滑块(27)所在的导轨固定在扭力臂(25)上，扭力臂(25)上设有内六角头的一端套在厚试件(33)的外六角上，位于拉力板(24)之上；
    所述的轴向载荷传递部分包括薄试件(32)、厚试件(33)、试件螺栓(34)、轴承盖(35)、推力球轴承(36)、上夹持板(37)、轴向加载支撑架(38)和液压拉马(39)；所述的薄试件(32)和厚试件(33)止口对应装配在一起；所述的厚试件(33)上端与拉力板(24)右端圆孔装配在一起，厚试件(33)末端安装在上夹持板(37)内圈中；所述的轴承盖(35)穿过上夹持板(37)，并将推力球轴承(36)夹在轴承盖(35)与上夹持板(37)之间；所述的液压拉马 (39)的油压起动杆一端置于轴向加载支撑架(38)上的圆筒内，其上的爪勾勾住轴承盖(35)边缘；
    所述的横向载荷幅值控制部分包括第二方轴衬套8、方轴轴承9、横载导轨移动板(10)、横载导轨固定基板(11)、丝杠螺母(12)、滚珠丝杠(13)、伺服电机联轴器(14)、伺服电机(15)以及T型滑块(16)；所述的第二方轴衬套(8)与方轴轴承(9)相连接，方轴轴承(9)通过过盈配合安装在T型滑块(16)中；所述的T型滑块(16)安装在横载导轨移动板(10)上，随横载导轨移动板(10)一同运动；所述的横载导轨移动板(10)可在横载导轨固定基板(11)上实现滑动，横载导轨固定基板(11)安装在底板(40)上；所述的T型滑块(16)与丝杠螺母(12)相连接，丝杠螺母(12)与滚珠丝杠(13)配合，位于方轴轴承(9)下方；所述的滚珠丝杠(13)通过伺服电机联轴器(14)与伺服电机(15)相连，伺服电机(15)固定在底板(40)上；
    所述的横向载荷传递部分包括主轴电机(1)、主轴电机输出轴法兰(2)、方轴法兰(3)、方轴(4)、第一方轴衬套(5)、曲柄轴承(6)、偏心摇杆(7)、摇杆连接销(17)、摇杆连接块(18)、U型连杆(19)、第一直线轴承(20)、弹性杆(21)、力传感器(22)、第二直线轴承(23)、拉力板(24)以及底板(40)；所述的主轴电机(1)固定在底板(40)上，主轴电机(1)的输出轴通过主轴电机输出轴法兰(2)和方轴法兰(3)实现与方轴(4)的连接，方轴(4)通过第一方轴衬套(5)带动曲柄轴承(6)产生转动；所述的曲柄轴承()6将运动传递给偏心摇杆(7)，偏心摇杆(7)与摇杆连接块(18)通过摇杆连接销(17)进行连接；所述的U型连杆(19)固定在摇杆连接块(18)上，并穿过第一直线轴承(20)与弹性杆(21)相连，弹性杆(21)与力传感器(22)相连，通过第二直线轴承(23)将横向载荷传递到拉力板(24)；
    基于多螺栓松脱试验机的横向载荷无级调幅与精确控制方法，步骤如下：
    步骤a)读入用户输入的各项试验参数，包括被连接件厚度d、被连接件间润滑状况m、螺栓个数n、目标横向载荷幅值F 0以及误差允许值e；其中m 1代表无润滑，m 2代表有一定润滑，m 3代表润滑良好；
    步骤b)系统自动将步骤a)中的试验参数代入到修正函数K＝g(d,m,n)中，计算出修正系数K，然后将目标横向载荷幅值F 0与修正系数K自动代入到载荷函数F＝f(x,K)中，计算获得T型滑块(16)的目标位置点x 0，x表示T型滑块(16)的位置点，其中修正函数与载荷函数存储在试验机控制器中；
    步骤c)启动伺服电机(15)，滚珠丝杠(13)通过丝杠螺母(12)带动T型滑块(16)连同横载导轨移动板(10)一起在横载导轨固定基板(11)上移动，调整T型滑块(16)至目标位置点x 0处，得到一个接近于目标横向载荷幅值F 0的实际横向载荷幅值F；
    步骤d)主轴电机(1)开始工作，同时力传感器(22)实时监测实际横向载荷幅值F大小；
    步骤e)计算实际横向载荷幅值F与目标横向载荷幅值F 0的差值，Δ 1＝F-F 0，比较差值绝对值|Δ 1|与误差允许值e的大小关系，若|Δ 1|≤e，则直接进入步骤f)，若|Δ 1|＞e，则计算更新横向载荷幅值
    Figure PCTCN2018095875-appb-100001
    并将计算结果代入到载荷函数F＝f(x,K)当中，计算得出更新位置点x 1，伺服电机(15)开始启动，迅速将T型滑块(16)微调至更新位置点x 1，然后重新对比实际横向载荷幅值F与目标横向载荷幅值F 0之间的差值；循环上述过程，直到实际横向力载荷幅值F与目标横向载荷幅值F 0之间差值小于误差允许值e；
    步骤f)由于横向载荷幅值具有不稳定性，在实际横向载荷幅值F达到要求之后，即实际横向力载荷幅值F与目标横向载荷幅值F 0之间差距小于误差允许值 e，持续监测实际横向载荷幅值F的大小，并且反复进行步骤e)；
    步骤g)将更新横向载荷幅值F 1作为新的目标横向载荷幅值，当用户输入新的目标横向载荷幅值F 1与误差允许值e时，重新进行步骤a)-步骤g)。
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