Over-constrained multi-dimensional hydraulic vibration table centering controller, centering method, application system and operation method

Abstract

The invention provides an over-constrained multi-dimensional hydraulic vibration table centering controller, a centering method, an application system of the over-constrained multi-dimensional hydraulic vibration table centering controller and an operation method of the over-constrained multi-dimensional hydraulic vibration table centering controller. The over-constrained multi-dimensional hydraulic vibration table centering controller comprises a centering command signal outlet, a vibration control signal inlet, a displacement signal inlet, a power module, a network port, a key, a USB interface and a real-time processor. The system comprises a vibration controller, an upper computer, an external power supply, a hydraulic actuator and a servo controller. The centering controller is arranged between a vibration control instrument and a servo controller of a conventional multi-dimensional hydraulic vibration system, an output signal of the vibration control instrument is obtained through a vibration control signal inlet, and the output signal of the vibration control instrument is corrected in the centering controller; and a signal is sent to the servo controller through the centering command signal outlet. According to the centering method of the built-in centering controller, clamping stagnation in the centering process and damage to equipment possibly caused by a conventional centering scheme can be avoided.

Description

Technical Field

[0001] The invention belongs to the field of test equipment, and specifically relates to a centering controller, a centering method, an application system and an operation method used in conjunction with a multi-dimensional hydraulic vibration table with an over-constrained structure. Background Art

[0002] The multi-dimensional hydraulic vibration table is an environmental simulation test equipment, which is widely used in aerospace, structural seismic and other fields. The multi-dimensional vibration environment test has obvious advantages in product failure mode reproduction and simulation accuracy. Large test pieces often require greater thrust. It is a common solution to use multiple hydraulic actuators in parallel to achieve a certain degree of freedom and large thrust simulation. Since there are only 6 degrees of freedom in space, the multi-dimensional hydraulic vibration table composed of 7 or more hydraulic actuators is an over-constrained structure. The movement process of the multi-dimensional hydraulic vibration table from the parking position to the vibration center is called centering. For a non-over-constrained multi-dimensional hydraulic vibration table, it can usually be designed that any hydraulic actuator can move freely throughout the full stroke. Therefore, its centering process is the linear progressive process of each hydraulic actuator piston from the current position to the center position, and there is no coupling between the hydraulic actuators. For an over-constrained multi-dimensional hydraulic vibration table, the use of a similar centering solution may cause the centering process to get stuck or even damage the equipment. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the present invention discloses an over-constrained multi-dimensional hydraulic vibration table centering controller, a centering method and an application system, and an operation method.

[0004] The invention provides an over-constrained multi-dimensional hydraulic vibration table centering controller, comprising: a centering instruction signal outlet, a vibration control signal inlet, a displacement signal inlet, a power module, a network port, a button, a USB interface and a real-time processor.

[0005] The present invention also provides an over-constrained multi-dimensional hydraulic vibration table centering controller application system, the system comprising:

[0006] Vibration controller, used to generate servo control instructions and send them out in the form of signals;

[0007] The host computer is used for human-computer interaction, and is connected to the centering controller through a network cable to exchange data;

[0008] External power supply, used to provide 220VAC mains power;

[0009] Centering controller;

[0010] The hydraulic actuator is used to push the actuator on the vibration table. It receives the signal from the servo controller through the signal cable. The displacement sensor installed on the hydraulic actuator can feed back the displacement value of the actuator piston to the centering controller in the form of a signal.

[0011] The servo controller is used for servo control of the hydraulic actuator, receives the signal from the centering controller through the signal cable, and transmits the servo control signal to the hydraulic actuator through the signal cable.

[0012] The centering command signal outlet is connected to the servo controller through a cable on the outside of the centering controller, and is connected to the real-time processor inside the centering controller; the vibration control signal inlet is connected to the vibration controller through a cable on the outside of the centering controller, and is connected to the real-time processor inside the centering controller; the displacement signal inlet can be connected to the displacement sensor installed on the hydraulic actuator through a cable on the outside of the centering controller, and is connected to the real-time processor inside the controller; the power module converts the external 220VAC mains power into DC voltage through a connector, and supplies power to the real-time processor through a cable; the network port is connected to the host computer through a cable on the outside of the centering controller or is connected to the host computer after being connected to the network transmission device, and is connected to the real-time processor inside the centering controller; the button is arranged on the surface of the centering controller casing, and is connected to the real-time processor inside the centering controller; the USB interface is connected to the mobile storage medium through a cable on the outside of the centering controller, and is connected to the real-time processor inside the centering controller.

[0013] The centering controller of the present invention is arranged between the vibration controller and the servo controller of the conventional multi-dimensional hydraulic vibration system, obtains the output signal of the vibration controller through the vibration control signal input, corrects the output signal of the vibration controller inside the centering controller, and then sends the signal to the servo controller through the centering command signal output.

[0014] The internal correction method of the centering controller of the present invention relies on the parameters transmitted from the host computer to the centering controller through the network port.

[0015] The transmitted parameters include: the geometric parameters of the vibration table surface, the motion length variation range of the vertical actuator with ball joints at both ends, the center distance of the vertical actuator in the x direction, the center distance of the vertical actuator in the y direction, the motion length variation range of the horizontal x-direction actuator with ball joints at both ends, the center distance of the horizontal x-direction actuator, the motion length variation range of the horizontal y-direction actuator with ball joints at both ends, the center distance of the horizontal y-direction actuator, displacement signal gain, displacement signal offset, vibration control signal gain, and alignment time.

[0016] Furthermore, the centering controller can store all parameters transmitted by the host computer.

[0017] Furthermore, the centering control supporting host computer is used for human-computer interaction.

[0018] The internal correction method of the centering controller of the present invention relies on the displacement signal of the field actuator, which can be obtained through the displacement signal inlet.

[0019] The centering method of the centering controller of the present invention runs in real time in a real-time processor.

[0020] The present invention also provides an internal centering method of a centering controller of an over-constrained multi-dimensional hydraulic vibration table, the steps of which are as follows:

[0021] S1. Calculate the coordinate transformation matrix based on the spatial geometric parameters of the vibration table surface and the hydraulic actuator;

[0022] S2, solve the vibration table surface posture according to the current displacement feedback and coordinate transformation matrix;

[0023] S3, generate a linear interpolation instruction sequence Xi from the current table posture to the median posture (that is, the three translations are all 0, and the three rotations are all 0);

[0024] S4, inversely solve the actuator length sequence Li according to the value of Xi and the coordinate transformation matrix;

[0025] S5. Calculate the centering command signal of each hydraulic actuator according to the vibration control signal input and the actuator length sequence Li.

[0026] The present invention also provides an operation method of an application system for a centering controller of an over-constrained multi-dimensional hydraulic vibration table, the steps of which are as follows:

[0027] T1. Power on the centering controller, servo controller and vibration controller;

[0028] T2, the oil source is started and pressure is established;

[0029] T3. Set parameters through the centering controller host computer and send them down;

[0030] T4. Click "Start Alignment" on the alignment controller host computer and wait for the alignment to be completed;

[0031] T5. Click the button on the centering controller host computer and wait for the centering to be completed;

[0032] After the parameters are adjusted, the operation method needs to execute steps T1-T4. If the parameters are not adjusted, steps T1, T2, and T5 can be executed to complete the centering process.

[0033] The beneficial effects of the present invention are as follows:

[0034] 1. The over-constrained multi-dimensional hydraulic vibration table centering controller of the present invention is arranged between the vibration controller and the servo controller of the conventional hydraulic vibration system, so as to realize the centering process of the over-constrained multi-dimensional hydraulic vibration table;

[0035] 2. The centering method built into the centering controller of the present invention can avoid the centering process jamming and damage to the equipment that may be caused by conventional centering solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention:

[0037] Figure 1 It is a schematic diagram of the structure of the over-constrained multi-dimensional hydraulic vibration table centering controller;

[0038] Figure 2 It is an application system of over-constrained multi-dimensional hydraulic vibration table centering controller;

[0039] Figure 3 It is an internal centering method for an over-constrained multi-dimensional hydraulic vibration table centering controller.

[0040] Among them: 1-vibration controller 2-host computer 3-external power supply 4-centering controller 5-hydraulic actuator 6-servo controller 41-centering command signal outlet 42-vibration control signal inlet 43-displacement signal inlet 44-power module 45-network port 46-button 47-USB interface 48-real-time processor DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0042] This embodiment provides an over-constrained multi-dimensional hydraulic vibration table alignment controller, such as Figure 1 As shown, it includes: a centering command signal outlet 41, a vibration control signal inlet 42, a displacement signal inlet 43, a power module 44, a network port 45, a button 46, a USB interface 47 and a real-time processor 48.

[0043] The present invention also provides an over-constrained multi-dimensional hydraulic vibration table centering controller application system, such as Figure 2 As shown, the system includes:

[0044] A vibration controller 1, used for generating servo control instructions and sending them in the form of signals;

[0045] Host computer 2 is used for human-computer interaction, and is connected to the centering controller through a network cable to exchange data;

[0046] External power supply 3, used to provide 220VAC mains power;

[0047] The hydraulic actuator 5 is used to push the actuator on the vibration table surface, and receives the signal from the servo controller through the signal cable. The displacement sensor installed on the hydraulic actuator 5 can feed back the displacement value of the actuator piston to the centering controller 4 in the form of a signal;

[0048] The servo controller 6 is used for servo control of the hydraulic actuator, receives the signal from the centering controller through the signal cable, and transmits the servo control signal to the hydraulic actuator 5 through the signal cable.

[0049] The centering command signal outlet 41 is connected to the servo controller through a cable on the outside of the centering controller, and is connected to the real-time processor 48 inside the centering controller; the vibration control signal inlet 42 is connected to the vibration controller through a cable on the outside of the centering controller, and is connected to the real-time processor 48 inside the centering controller; the displacement signal inlet 43 can be connected to the displacement sensor installed on the hydraulic actuator through a cable on the outside of the controller, and is connected to the real-time processor 48 inside the controller; the power module 44 converts the external 220VAC mains power into DC voltage through a connector, and supplies power to the real-time processor 48 through a cable; the network port 45 is connected to the host computer through a cable on the outside of the centering controller or connected to the host computer after being connected to the network transmission device, and is connected to the real-time processor 48 inside the centering controller; the button 46 is arranged on the surface of the centering controller casing, and is connected to the real-time processor 48 inside the centering controller; the USB interface 47 is connected to the mobile storage medium through a cable on the outside of the centering controller, and is connected to the real-time processor 48 inside the centering controller.

[0050] In this embodiment, the centering controller is arranged between the vibration controller and the servo controller of the conventional multi-dimensional hydraulic vibration system, obtains the output signal of the vibration controller through the vibration control signal input 42, and after correcting the output signal of the vibration controller inside the centering controller, sends the signal to the servo controller through the centering command signal output 41.

[0051] The internal processing method of the centering controller depends on the parameters transmitted by the host computer to the centering controller through the network port 45.

[0052] The transmitted parameters include: the geometric parameters of the vibration table surface, the motion length variation range of the vertical actuator with ball joints at both ends, the center distance of the vertical actuator in the x direction, the center distance of the vertical actuator in the y direction, the motion length variation range of the horizontal x-direction actuator with ball joints at both ends, the center distance of the horizontal x-direction actuator, the motion length variation range of the horizontal y-direction actuator with ball joints at both ends, the center distance of the horizontal y-direction actuator, displacement signal gain, displacement signal offset, vibration control signal gain, and alignment time.

[0053] Preferably, the centering controller can store all parameters transmitted by the host computer.

[0054] Preferably, the centering control supporting host computer is used for human-computer interaction.

[0055] Preferably, the internal processing method of the centering controller relies on the displacement signal of the field actuator, which can be obtained through the displacement signal input 43.

[0056] Preferably the centering controller centering method runs in real time on the real time processor 48 .

[0057] The present invention also provides an embodiment, providing an operation method of an application system for a centering controller of an over-constrained multi-dimensional hydraulic vibration table, the steps of which are as follows:

[0058] T1. Power on the centering controller, servo controller and vibration controller;

[0059] T2, the oil source is started and pressure is established;

[0060] T3. Set parameters through the centering controller host computer and send them down;

[0061] T4. Click "Start Alignment" on the alignment controller host computer and wait for the alignment to be completed;

[0062] T5. Click button 46 on the centering controller host computer and wait for the centering to be completed;

[0063] After the parameters are adjusted, the operation method needs to execute steps T1-T4. If the parameters are not adjusted, steps T1, T2, and T5 can be executed to complete the centering process.

[0064] The present invention also provides an internal centering method for a centering controller of an over-constrained multi-dimensional hydraulic vibration table, such as Figure 3 As shown, the steps are as follows:

[0065] S1. Calculate the coordinate transformation matrix based on the spatial geometric parameters of the vibration table surface and the hydraulic actuator;

[0066] S2, solve the vibration table surface posture according to the current displacement feedback and coordinate transformation matrix;

[0067] S3, generate a linear interpolation instruction sequence Xi from the current table posture to the median posture (that is, the three translations are all 0, and the three rotations are all 0);

[0068] S4, inversely solve the actuator length sequence Li according to the value of Xi and the coordinate transformation matrix;

[0069] S5. Calculate the centering command signal of each hydraulic actuator according to the vibration control signal input and the actuator length sequence Li.

[0070] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An over-constrained multi-dimensional hydraulic vibration table centering controller, characterized in that: It includes a centering command signal outlet, a vibration control signal inlet, a displacement signal inlet, a power module, a network port, a button, a USB interface and a real-time processor; wherein the real-time processor is connected to all other components; Centering command signal outlet, used to transmit servo control signal; Vibration control signal inlet, used to receive signals from vibration controller; A displacement signal input port, used for receiving a signal from a displacement sensor; The button is arranged on the surface of the centering controller casing.

2. An over-constrained multi-dimensional hydraulic vibration table centering controller as claimed in claim 1, characterized in that: The centering controller is arranged between the vibration controller and the servo controller of the multi-dimensional hydraulic vibration system. It obtains the output signal of the vibration controller through the vibration control signal inlet, corrects the output signal of the vibration controller inside the centering controller, and then sends the signal to the servo controller through the centering command signal outlet.

3. A centering method for an over-constrained multi-dimensional hydraulic vibration table centering controller as claimed in claim 1, characterized in that: The steps include: S1. Calculate the coordinate transformation matrix based on the spatial geometric parameters of the vibration table surface and the hydraulic actuator; S2, solve the vibration table surface posture according to the current displacement feedback and coordinate transformation matrix; S3, generating a linear interpolation instruction sequence Xi from the current table posture to the median posture, wherein the median posture means that the three translational moments are all 0 and the three rotational moments are all 0; S4, inversely solve the actuator length sequence Li according to the value of Xi and the coordinate transformation matrix; S5. Calculate the centering command signal of each hydraulic actuator according to the vibration control signal input and the actuator length sequence Li.

4. The centering method of the over-constrained multi-dimensional hydraulic vibration table centering controller according to claim 3 is characterized in that: The centering method runs in real time on a real time processor.

5. An application system of the over-constrained multi-dimensional hydraulic vibration table centering controller as claimed in claim 1, characterized in that: include: Vibration controller, host computer, external power supply, centering controller, hydraulic actuator, servo controller; among them, Vibration controller, used to generate servo control instructions and send them out in the form of signals; The host computer is used for human-computer interaction, and is connected to the centering controller through a network cable to exchange data; External power supply, used to provide 220VAC mains power; The hydraulic actuator is used to push the actuator on the vibration table. It receives the signal from the servo controller through the signal cable. The displacement sensor installed on the hydraulic actuator can feed back the displacement value of the actuator piston to the centering controller in the form of a signal. The servo controller is used for servo control of the hydraulic actuator, receives the signal from the centering controller through the signal cable, and transmits the servo control signal to the hydraulic actuator through the signal cable.

6. The application system of the over-constrained multi-dimensional hydraulic vibration table centering controller according to claim 5, characterized in that: The centering command signal outlet is connected to the servo controller through a cable on the outside of the centering controller; the vibration control signal inlet is connected to the vibration controller through a cable on the outside of the centering controller; the displacement signal inlet is connected to the displacement sensor installed on the hydraulic actuator through a cable on the outside of the controller.

7. The application system of the over-constrained multi-dimensional hydraulic vibration table centering controller according to claim 5, characterized in that: The centering controller is arranged between the vibration controller and the servo controller of the conventional multi-dimensional hydraulic vibration system. It obtains the output signal of the vibration controller through the vibration control signal inlet, corrects the output signal of the vibration controller inside the centering controller, and then sends the signal to the servo controller through the centering command signal outlet.

8. The application system of the over-constrained multi-dimensional hydraulic vibration table centering controller according to claim 5, characterized in that: The internal correction method of the centering controller depends on the parameters transmitted from the host computer to the centering controller through the network port.

9. The application system of the over-constrained multi-dimensional hydraulic vibration table centering controller according to claim 8, characterized in that: The parameters include: the geometric parameters of the vibration table surface, the motion length variation range of the vertical actuator with ball joints at both ends, the center distance of the vertical actuator in the x direction, the center distance of the vertical actuator in the y direction, the motion length variation range of the horizontal x-direction actuator with ball joints at both ends, the center distance of the horizontal x-direction actuator, the motion length variation range of the horizontal y-direction actuator with ball joints at both ends, the center distance of the horizontal y-direction actuator, the displacement signal gain, the displacement signal offset, the vibration control signal gain, and the centering time.

10. An operating method of an application system of an over-constrained multi-dimensional hydraulic vibration table alignment controller as claimed in claims 5-9, characterized in that: The steps include: T1. Power on the centering controller, servo controller and vibration controller; T2, the oil source is started and pressure is built up; T3. Set parameters through the centering controller host computer and send them down; T4. Click "Start Alignment" on the alignment controller host computer and wait for the alignment to be completed; T5. Click button 46 on the centering controller host computer and wait for the centering to be completed; After the parameters are adjusted, the operation method needs to execute steps T1-T4. If the parameters are not adjusted, steps T1, T2, and T5 can be executed to complete the centering process.

Images