CN103016464A - Loading speed control device of hydraulic testing machine and control method - Google Patents
Loading speed control device of hydraulic testing machine and control method Download PDFInfo
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- CN103016464A CN103016464A CN2012104843892A CN201210484389A CN103016464A CN 103016464 A CN103016464 A CN 103016464A CN 2012104843892 A CN2012104843892 A CN 2012104843892A CN 201210484389 A CN201210484389 A CN 201210484389A CN 103016464 A CN103016464 A CN 103016464A
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Abstract
The invention discloses a loading speed control device of a hydraulic testing machine and a control method. The loading speed control device of the hydraulic testing machine comprises a processor, a pressure A/D (analog to digital) conversion module used for converting an analog quantity of a pressure sensor to a digital quantity, an electromagnetic valve control module, the pressure sensor located at the top of a oil cylinder, an electromagnetic valve, a servo valve, a servo amplifier, a communication protocol conversion module, a serial port receiving module and a D/A (digital to analog) conversion module. The invention further provides the control method for the speed control device of the hydraulic testing machine. The double closed-loop control enables the loading speed and the loading pressure to be simultaneously controllable. According to the invention, the control structure is simple, the manipulation is reliable, the loading speed can be effectively controlled, the control effect is better, and the testing quality of the hydraulic testing machine is further improved.
Description
Affiliated technical field
The present invention relates generally to the hydraulic dynamometer field, relates in particular to a kind of hydraulic dynamometer loading velocity control gear and controlling method.
Background technique
At present, hydraulic dynamometer control technique characteristics are that hydraulics, electrical technology and Computer Control Technology are gathered mutually, and tradition control is combined with computer control, thereby have improved to a great extent control accuracy, anti-interference and the stability of system.The hydraulic dynamometer system adopts Hydraulic power units as actuator more now, controls by the controlling method of the given signal of output tracking according to negative-feedback principle.This method is the output of pilot pressure effectively, but be difficult in pilot pressure the again loading velocity of pilot pressure.Among the NBS TB-T 2331-2004 " railroad bridge pot rubber bearing " the pressure-loaded speed of hydraulic dynamometer having been made regulation requires pressure-loaded speed and on-load pressure to need the while controlled.
Effectively the speed of pilot pressure loading can not only be carried out so that the test mass of bearing is higher by proof test stably, and the while is Reducing overshoot effectively, and the minimizing system adjusts the time, makes system have better performance.Traditional controlling method mostly is the control of single loop pressure, is difficult to realize that loading velocity and on-load pressure are simultaneously controlled.
Summary of the invention
Above shortcoming in view of prior art the objective of the invention is, and a kind of hydraulic dynamometer loading velocity control gear and controlling method are provided, make it to have to realize that loading velocity and on-load pressure are simultaneously controlled, thus the characteristics of the dynamic characteristic of improvement process.
The objective of the invention is to realize by following means.
A kind of hydraulic dynamometer loading velocity control gear comprises processor, the analog amount of pressure transducer is converted to pressure A/D modular converter, electromagnetic valve module, the pressure transducer that is positioned at the oil cylinder top, solenoid valve, servovalve, servoamplifier, communication Protocol Conversion module, serial ports receiving module, the D/A modular converter of digital quantity; Described processor is connected with described communication Protocol Conversion module, solenoid valve, D/A modular converter respectively; Described communication Protocol Conversion module and described pressure A/D modular converter are to being connected, and the digital signal after the conversion is received by the processor serial ports through serial ports through the conversion of communication protocol; Described pressure A/D modular converter is connected with described pressure transducer; Described D/A modular converter is connected with described servoamplifier; Described servoamplifier is connected with described servovalve; The break-make of oil circuit between described electromagnetic valve hydraulic system and the oil cylinder; The PID adjustment module is set in the described processor, and processor calculates pressure-loaded speed V according to the force value of sampling back and sampling time
F
The present invention also aims to, adopt corresponding controlling method at above running gear, comprise following steps:
1), controlling method adopts the PID control model of two closed loops, interior ring is the rate of pressure rise closed loop, outer shroud is the force value closed loop, thereby reaches in the stabilization time of satisfying pressure and can also pilot pressure reach in by the general effect of demand output predefined value;
2), processor pressure and preset pressure comparison that pressure sensor feeds back is come, calculate pressure divergence Δ F;
3), processor with pressure divergence Δ F and a certain predefined value δ relatively, as pressure divergence Δ F during greater than predefined value δ, ring PID pursuit gain is a setting value C in setting; As Δ F during less than δ, in setting ring PID pursuit gain for being starting point by C, 0 for the ramp function value of terminal point so that the speed that is loaded as gradually less be zero retarded motion;
4), processor converts the pressure-loaded velocity amplitude to as the value of feedback of interior ring with gathering the force value of returning, and compares comparative result input PID calculating with the present speed pursuit gain;
5), interior ring PID controller output value is controlled the servovalve aperture, thereby is controlled oil inlet quantity pilot pressure and pressure-loaded speed;
6), pressure transducer compares the mineralization pressure closed loop with gathering the force value of returning as pressure feedback and preheating setting pressure.
Adopt the effectively speed of pilot pressure loading of the present invention, can not only carry out stably so that the test mass of bearing is higher by proof test, the while is Reducing overshoot effectively, and the minimizing system adjusts the time, makes system have better performance.Tandem of the present invention is controlled on the basis of single loop control system, has increased an inloop road, thereby has improved the dynamic characteristic of process, has improved control quality and the working efficiency thereof of system, and can realize that loading velocity and on-load pressure are simultaneously controlled.
Description of drawings:
Fig. 1 is the hardware configuration connection diagram of hydraulic pressure test machine.
Fig. 2 is the flow chart of hydraulic dynamometer controlling method.
Fig. 3 is the simulating, verifying figure of hydraulic dynamometer controlling method.
Embodiment
The invention will be further described below in conjunction with accompanying drawing and implementation.
A kind of hydraulic dynamometer loading velocity control gear as shown in Figure 1, it comprises processor, pressure A/D modular converter, electromagnetic valve module, pressure transducer, solenoid valve, servovalve, servoamplifier, communication Protocol Conversion module, serial ports receiving module, D/A modular converter; Described processor is connected with described communication Protocol Conversion module, solenoid valve, D/A modular converter respectively; Described communication Protocol Conversion module and described pressure A/D modular converter are to being connected; Described pressure A/D modular converter is connected with described pressure transducer; Described D/A modular converter is connected with described servoamplifier; Described servoamplifier is connected with described servovalve; The break-make of oil circuit between described electromagnetic valve hydraulic system and the oil cylinder; The PID adjustment module is set in the described processor.
Realize making the control of testing machine pressure-loaded speed by the device of Fig. 1, it comprises following steps:
At first, pressure transducer is passed to pressure A/D modular converter with the current pressure data, by pressure A/D modular converter the pressure simulation amount is converted to digital quantity, then digital signal is 232 agreements through the communication Protocol Conversion module with 485 protocol conversions, receives the current pressure data by processor serial port.
Then processor is according to reading the current pressure value of feedback, and with current pressure value of feedback and setting value relatively, the pressure divergence that calculates is as the foundation of choosing pressure-loaded speed, when pressure divergence during greater than δ, setting loading velocity is a fixed value C, and testing machine loads with a fixed speed.When pressure divergence during less than δ, loading velocity begins to reduce from C until be reduced to 0 gradually, pressure is done subtracted accelerated motion, thereby approach gently setting value.
Processor calculates current loading velocity by previous moment force value and present speed value, current loading velocity is followed the tracks of the selected velocity setting value as the treated device PID of speed feedback, form the loading velocity closed loop, the PID calculated value is as the servo valve control amount in this process, through servoamplifier output control servovalve aperture, finally affect on-load pressure.
Hydraulic dynamometer control block diagram as shown in Figure 2, set fixing pressure given according to different situations, the pressure transducer that is installed on the oil cylinder detects the pressure that bearing bears, and and pressure given compare, as the Rule of judgment of choosing pressure-loaded speed, processor is followed the tracks of current loading velocity by the PID regulator as speed feedback to the loading velocity of choosing, finish the loading velocity closed loop control.
Below the concrete controlling method of the loading velocity of detailed description hydraulic dynamometer of the present invention system is:
1. per 0.01 second sampling bearing bears force value.
2. with current pressure value of feedback and setting value relatively, the pressure divergence that calculates is as the foundation of choosing pressure-loaded speed, and when pressure divergence during greater than δ, setting loading velocity is a fixed value C, and testing machine loads with a fixed speed.When pressure divergence during less than δ, loading velocity begins to reduce from C until be reduced to 0 gradually, pressure is done subtracted accelerated motion, thereby approach gently setting value.
3. calculate current loading velocity by current pressure value and previous moment force value.Current loading velocity carries out speed tracking through PID regulator and control object to setting loading velocity as speed feedback, forms speed closed loop.
5.PID output value is imported servovalve into through servoamplifier, thereby control oil inlet quantity pilot pressure.
6. withdraw from this controlled circulation.
The simulating, verifying figure of hydraulic dynamometer controlling method as shown in Figure 3 shows that described controlling method is Control experiment machine delivery pressure and pressure-loaded speed better; Described controlling method pressure can pilot pressure during near setting value gently near setting value, the impacts such as overshoot can not appear, make experimental result more accurate.
The present invention has realized that by PID control is combined with tandem control hydraulic dynamometer on-load pressure and loading velocity are simultaneously controlled.Whole process implementation is simple, and insensitive to the sensor signal interference simultaneously, regulating power is strong.Compare traditional pressure list closed loop control method, controller applicability of the present invention is stronger, and is insensitive to sensor disturbance, can satisfy pressure exports by demand, the velocity magnitude that simultaneously can also pilot pressure loads, effectively controlled loading speed has improved adaptability and detection quality.
Claims (2)
1. hydraulic dynamometer loading velocity control gear, it is characterized in that, comprise processor, the analog amount of pressure transducer be converted to pressure A/D modular converter, electromagnetic valve module, the pressure transducer that is positioned at the oil cylinder top, solenoid valve, servovalve, servoamplifier, communication Protocol Conversion module, serial ports receiving module, the D/A modular converter of digital quantity; Described processor is connected with described communication Protocol Conversion module, solenoid valve, D/A modular converter respectively; Described communication Protocol Conversion module and described pressure A/D modular converter are to being connected, and the digital signal after the conversion is received by the processor serial ports through serial ports through the conversion of communication protocol; Described pressure A/D modular converter is connected with described pressure transducer; Described D/A modular converter is connected with described servoamplifier; Described servoamplifier is connected with described servovalve; The break-make of oil circuit between described electromagnetic valve hydraulic system and the oil cylinder; The PID adjustment module is set in the described processor, and processor calculates pressure-loaded speed V according to the force value of sampling back and sampling time
F
2. the controlling method of hydraulic dynamometer loading velocity control gear adopts the described hydraulic dynamometer loading velocity of claim 1 control gear, and it comprises following steps:
1), controlling method adopts the PID control model of two closed loops, interior ring is the rate of pressure rise closed loop, outer shroud is the force value closed loop, thereby reaches in the stabilization time of satisfying pressure and can also pilot pressure reach in by the general effect of demand output predefined value;
2), processor pressure and preset pressure comparison that pressure sensor feeds back is come, calculate pressure divergence Δ F;
3), processor with pressure divergence Δ F and a certain predefined value δ relatively, as pressure divergence Δ F during greater than predefined value δ, ring PID pursuit gain is a setting value C in setting; As Δ F during less than δ, in setting ring PID pursuit gain for being starting point by C, 0 for the ramp function value of terminal point so that the speed that is loaded as gradually less be zero retarded motion;
4), processor converts the pressure-loaded velocity amplitude to as the value of feedback of interior ring with gathering the force value of returning, and compares comparative result input PID calculating with the present speed pursuit gain;
5), interior ring PID controller output value is controlled the servovalve aperture, thereby is controlled oil inlet quantity pilot pressure and pressure-loaded speed;
6), pressure transducer compares the mineralization pressure closed loop with gathering the force value of returning as pressure feedback and preheating setting pressure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210484389.2A CN103016464B (en) | 2012-11-26 | 2012-11-26 | Loading speed control device of hydraulic testing machine and control method |
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| CN201210484389.2A CN103016464B (en) | 2012-11-26 | 2012-11-26 | Loading speed control device of hydraulic testing machine and control method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106872161A (en) * | 2017-03-29 | 2017-06-20 | 苏州铁马自动化科技有限公司 | Slab rubber bearing in Highway Bridge corner test angle keeps algorithm |
| CN108267313A (en) * | 2017-12-27 | 2018-07-10 | 中国航发中传机械有限公司 | The load test control method and system of tail reducer of helicopter control stick bearing |
| CN109100083A (en) * | 2018-06-15 | 2018-12-28 | 西安航天动力试验技术研究所 | Attitude control engine vectored thrust measuring device calibrates control system and method |
| CN112257335A (en) * | 2020-10-10 | 2021-01-22 | 西南交通大学 | A Fault Diagnosis Method of Oil-immersed Transformer Combining PNN and SVM |
| CN115016249A (en) * | 2022-05-13 | 2022-09-06 | 湘潭大学 | Incremental cascade PID closed-loop control method and hardness tester test force accurate control method |
| CN115824811A (en) * | 2023-01-09 | 2023-03-21 | 水利部交通运输部国家能源局南京水利科学研究院 | Tensile dynamic full curve test device and method for brittle materials based on Brazilian splitting |
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Patent Citations (6)
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| JP2000171369A (en) * | 1998-12-04 | 2000-06-23 | Saginomiya Seisakusho Inc | Hydraulic material testing system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106872161A (en) * | 2017-03-29 | 2017-06-20 | 苏州铁马自动化科技有限公司 | Slab rubber bearing in Highway Bridge corner test angle keeps algorithm |
| CN108267313A (en) * | 2017-12-27 | 2018-07-10 | 中国航发中传机械有限公司 | The load test control method and system of tail reducer of helicopter control stick bearing |
| CN108267313B (en) * | 2017-12-27 | 2019-09-17 | 中国航发中传机械有限公司 | The load test control method and system of tail reducer of helicopter control stick bearing |
| CN109100083A (en) * | 2018-06-15 | 2018-12-28 | 西安航天动力试验技术研究所 | Attitude control engine vectored thrust measuring device calibrates control system and method |
| CN112257335A (en) * | 2020-10-10 | 2021-01-22 | 西南交通大学 | A Fault Diagnosis Method of Oil-immersed Transformer Combining PNN and SVM |
| CN115016249A (en) * | 2022-05-13 | 2022-09-06 | 湘潭大学 | Incremental cascade PID closed-loop control method and hardness tester test force accurate control method |
| CN115016249B (en) * | 2022-05-13 | 2025-02-18 | 湘潭大学 | An incremental cascade PID closed-loop control method and a hardness tester test force precise control method |
| CN115824811A (en) * | 2023-01-09 | 2023-03-21 | 水利部交通运输部国家能源局南京水利科学研究院 | Tensile dynamic full curve test device and method for brittle materials based on Brazilian splitting |
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Granted publication date: 20150128 Termination date: 20171126 |