Engineering equipment test platform composite decoupling control method

Abstract

The invention discloses an engineering equipment test platform composite decoupling control method, and relates to the technical field of automatic control. The problems of low frequency response and poor robust stability of a force loading system caused by a serious output force coupling phenomenon between channels during multi-channel force loading are solved. The method comprises the following steps: establishing a kinematic relationship between a road spectrum simulation system and a loading point according to the geometric dimension and the installation position of a tested piece; according to the working state of the road spectrum simulation system, the wind load hydraulic cylinder is used for loading the tested piece, and the rigidity of the tested equipment is obtained; a loading point displacement estimator is constructed according to the established kinematics relation and the rigidity of the tested equipment, and the loading point displacement estimator is used for estimating the loading point displacement; and introducing the estimated loading point displacement into closed-loop control of the loading hydraulic cylinder to realize decoupling control. The invention is applied to the field of heavy equipment test bench test.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a composite decoupling control method for an engineering equipment test platform. Background Art

[0002] Engineering equipment test platforms play a vital role in modern engineering research and development. They are mainly used to simulate and reproduce the working conditions of engineering equipment in complex service environments, especially the impact of variable load coupling on its performance. By precisely controlling the loading of simulated forces, the test platform can provide researchers with detailed data to help them deeply understand the working mechanism, degradation mechanism and various potential failure modes of equipment under strong coupling conditions. Through these tests and analyses, engineers can better predict the performance changes that may occur in equipment during actual service, thereby improving the reliability and service life of the equipment.

[0003] During the test, especially when loading large engineering equipment specimens, the multi-channel loading system of the test platform is crucial. Conventional single-channel servo systems usually rely on precise force control to ensure loading accuracy. However, conventional single-channel servo systems are often affected by factors such as poor robustness and slow response speed, resulting in limited effectiveness in practical applications. Especially when faced with complex loading requirements, it is difficult to meet the high requirements for loading accuracy and stability when multiple channels work simultaneously.

[0004] When it comes to multi-channel force loading, the situation becomes more complicated. There is often serious coupling between the force outputs of different channels, which not only affects the accuracy of force loading, but also causes the dynamic response of the system to deteriorate. Specifically, due to the mutual interference and coupling between the channels, the force loading system may exhibit a lower frequency response characteristic, thereby affecting the control accuracy and stability of the system. In the test of engineering equipment, especially the test of some complex systems, there is not only coupling between the loading channels, but also mutual influence with other factors (such as wind load and vibration in the environmental simulation system). These coupling effects cannot be ignored during the test process. They will directly affect the overall performance of the loading system, limit the adjustability and robustness of the system, and thus affect the reliability and accuracy of the test results.

[0005] Especially in the test of large-scale engineering equipment, this coupling phenomenon is more complicated. In addition to the force coupling between multiple channels in the loading system, the system may also be affected by other environmental factors. For example, the coupling of the road spectrum simulation system (used to simulate the changes in road loads under different working conditions) to the wind load loading channel further restricts the control performance of the system. Summary of the invention

[0006] The present invention aims at the problem that when multi-channel force loading occurs, there is a serious output force coupling phenomenon between the channels, which leads to a low frequency response and poor robust stability of the force loading system. A composite decoupling control method for an engineering equipment test platform is proposed. The method comprises:

[0007] Step S1: establishing a kinematic relationship between the road spectrum simulation system and the loading point according to the geometric dimensions and installation position of the test specimen;

[0008] Step S2: according to the working state of the road spectrum simulation system, the test piece is loaded by using a wind-loaded hydraulic cylinder to obtain the stiffness of the test equipment;

[0009] Step S3: constructing a loading point displacement estimator according to the established kinematic relationship and the stiffness of the test equipment, and using the loading point displacement estimator to estimate the loading point displacement;

[0010] Step S4: Introduce the estimated loading point displacement into the closed-loop control of the loading hydraulic cylinder to achieve decoupling control.

[0011] Furthermore, a preferred embodiment is proposed, in which the road spectrum simulation system in step S1 is composed of a plurality of hydraulic cylinders in an orthogonal configuration.

[0012] Furthermore, a preferred method is proposed, wherein the kinematic relationship between the road spectrum simulation system and the loading point is established in step S1, including:

[0013] q s =∫(k p J(l m -l)+k i ∫J(l m -l)dt)dt

[0014] Among them, q s is the specimen pose, k p is a proportional controller, k i is the integral gain controller, J is the Jacobian matrix, l m is the hydraulic cylinder displacement command, and l is the hydraulic cylinder displacement feedback.

[0015] Furthermore, a preferred method is proposed, wherein step S2 comprises:

[0016] P T f c +R T f d =f

[0017] QP T f c +QR T f d =Qf

[0018] Among them, P is the comprehensive coefficient of position, f c For wind-loaded hydraulic cylinder y c Directional force, f d is the hydraulic cylinder output in the wind-load deformation direction, f is the hydraulic cylinder output, Q is the mapping relationship from the hydraulic cylinder output to the deformation force, and R is the mapping relationship from the wind-load hydraulic cylinder displacement to the deformation displacement.

[0019] Furthermore, a preferred method is proposed, in which the position comprehensive coefficient is obtained by the position discrete coefficient C of the wind-loaded hydraulic cylinder in the loading direction:

[0020] P=(C T C) -1 C T .

[0021] Furthermore, a preferred embodiment is proposed, in which the mapping relationship between the hydraulic cylinder output and the deformation force is:

[0022] Q=D T

[0023] Where D is the discrete coefficient of the restraining force in the deformation direction of the wind-loaded hydraulic cylinder.

[0024] Furthermore, a preferred method is proposed, wherein step S4 comprises:

[0025] The displacement signal of the first channel is collected by the displacement sensor, and the displacement signal of the first channel is differentiated to obtain the speed signal of the first channel;

[0026] The speed signal of the first channel is used as feedback information and transmitted to the control system of the second channel. The control system of the second channel compensates the influence of the loading force of the first channel on the second channel by adjusting the gain, and measures the force on the test piece through the sensor to generate a force feedback signal. The force feedback signal is compared with the reference signal of the force to obtain a force error signal;

[0027] At the same time, the displacement sensor in the second channel measures the displacement of the loading point, generates a position feedback signal, and compares it with the estimated displacement of the loading point to obtain a displacement error signal;

[0028] The velocity feedback signal of the first channel is combined with the force and displacement error signal of the second channel, and processed through decoupling logic. The decoupled signal is sent to the driver of the hydraulic cylinder of the second channel to generate a drive signal. The drive signal controls the action of the hydraulic cylinder of the second channel, thereby realizing the control of the force and displacement of the test piece.

[0029] Based on the same inventive concept, the present invention also proposes a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes the composite decoupling control method of the engineering equipment test platform described in any one of the above items.

[0030] Based on the same inventive concept, the present invention also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the composite decoupling control method for an engineering equipment test platform as described in any one of the above are executed.

[0031] The present invention is beneficial in that:

[0032] The method proposed in the present invention overcomes the problem that in a multi-channel force loading system, there is strong mutual coupling between the channels, which leads to serious restrictions on the response ability of the force loading system. By constructing a kinematic relationship and combining a loading point displacement estimator, an accurate estimation of the loading point displacement is achieved, thereby effectively eliminating or reducing the coupling interference between different channels during the loading process. Using this method, the behavior of each loading channel can be accurately controlled to reduce the instability caused by the coupling effect.

[0033] The method proposed in the present invention overcomes the problem that in traditional single-channel or simple multi-channel loading systems, the frequency response is low due to the coupling between the force loading channels and the dynamic characteristics of the system, which makes it difficult to ensure the loading accuracy. By introducing the displacement of the loading point into the closed-loop control of the hydraulic cylinder, a more accurate decoupling control is achieved. Through the composite control method, the frequency response of the system is effectively improved, and the robustness and stability of the system under complex loading conditions are enhanced, so that the loading process is more accurate and stable.

[0034] The method proposed in the present invention overcomes the problem that in actual engineering equipment tests, loading systems of different channels usually interfere with each other, resulting in a significant decrease in the performance of the control system. By introducing the dynamic effect of the wind-loaded hydraulic cylinder into the kinematic model and combining it with a loading point displacement estimator, the loading channel is dynamically adjusted during the loading process, and the force transmission path between different channels is accurately simulated, thereby effectively decoupling and reducing dynamic interference.

[0035] The method proposed in the present invention overcomes the difficulty that conventional control methods are difficult to cope with the challenges brought by complex environmental loads and multi-channel coupling. By using a loading point displacement estimator, the displacement of each loading point is estimated and adjusted in real time, thereby making the control and force output of each loading channel more precise, reducing mutual interference between multiple channels, and improving the control accuracy of the entire loading system.

[0036] In the present invention, by introducing the kinematic relationship and the loading point displacement estimator, the displacement of each loading point can be accurately estimated and controlled, the coupling interference between multiple channels is effectively eliminated, and accurate decoupling control is achieved, thereby improving the control accuracy of the loading system. By introducing the loading point displacement into the hydraulic cylinder closed-loop control, the frequency response capability and dynamic response speed of the loading system are improved, so that the system can respond to changes in test conditions more quickly and accurately, and the robustness and stability of the loading system are enhanced.

[0037] In traditional methods, the coupling between multiple loading channels will lead to a decrease in the stability and accuracy of the control system. The present invention reduces the mutual interference between loading channels through a composite decoupling control method, ensures that the force output of each channel is more stable, and solves the problems caused by multi-channel coupling. Furthermore, this method can adapt to the loading requirements under different complex working conditions, and can maintain a high control accuracy in a changing environment. It is suitable for the test of large-scale engineering equipment and has a strong application scenario. By precisely controlling every detail of the loading process, the instability caused by coupling is avoided, thereby enhancing the reliability and safety of the test platform and ensuring the accuracy and repeatability of the test results.

[0038] The invention is applied to the field of heavy equipment test bench testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a flow chart of the composite decoupling control method of the engineering equipment test platform described in the first embodiment;

[0040] Figure 2 Schematic diagram of the engineering equipment test platform according to the tenth embodiment, wherein 1 is a test piece, 2 is a wind load loading system, 3 is a reaction force foundation, and 4 is a road spectrum simulation system;

[0041] Figure 3 This is a control structure diagram of the wind-loaded system of the test platform described in Embodiment 10, wherein a, b, and c are the distances between the loading points of the three wind-loaded hydraulic cylinders and the base point, respectively.

[0042] Figure 4 This is a block diagram of posture solution of the road spectrum simulation system according to the tenth embodiment;

[0043] Figure 5 Schematic diagram of a simplified model of a wind-loaded hydraulic cylinder and a test piece according to Embodiment 10, wherein A is the cross-sectional area of ​​the wind-loaded hydraulic cylinder, M d is the equivalent mass of the wind-loaded hydraulic cylinder piston, M s is the equivalent load mass, p1 is the input pressure of the wind-loaded hydraulic cylinder, p2 is the output pressure of the wind-loaded hydraulic cylinder, q is the displacement of the wind-loaded hydraulic cylinder, q s is the motion displacement of the specimen, k bis the equivalent stiffness of the specimen, B b is the equivalent damping ratio;

[0044] Figure 6 This is a schematic diagram of the cross-decoupling control described in the tenth implementation mode. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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.

[0046] Implementation method 1, see Figure 1 The composite decoupling control method for the engineering equipment test platform described in this embodiment includes:

[0047] Step S1: establishing a kinematic relationship between the road spectrum simulation system and the loading point according to the geometric dimensions and installation position of the test specimen;

[0048] Step S2: according to the working state of the road spectrum simulation system, the test piece is loaded by using a wind-loaded hydraulic cylinder to obtain the stiffness of the test equipment;

[0049] Step S3: constructing a loading point displacement estimator according to the established kinematic relationship and the stiffness of the test equipment, and using the loading point displacement estimator to estimate the loading point displacement;

[0050] Step S4: Introduce the loading point displacement into the closed-loop control of the loading hydraulic cylinder to achieve decoupling control.

[0051] The method proposed in this embodiment overcomes the problem that in a multi-channel force loading system, there is strong mutual coupling between the channels, which leads to serious restrictions on the response ability of the force loading system. By constructing a kinematic relationship and combining a loading point displacement estimator, accurate estimation of the loading point displacement is achieved, thereby effectively eliminating or reducing the coupling interference between different channels during the loading process. Using this method, the behavior of each loading channel can be accurately controlled to reduce the instability caused by the coupling effect.

[0052] The method proposed in this embodiment overcomes the problem that in traditional single-channel or simple multi-channel loading systems, the frequency response is low due to the coupling between the force loading channels and the dynamic characteristics of the system, which makes it difficult to ensure the loading accuracy. By introducing the displacement of the loading point into the closed-loop control of the hydraulic cylinder, a more accurate decoupling control is achieved. Through the composite control method, the frequency response of the system is effectively improved, and the robustness and stability of the system under complex loading conditions are enhanced, so that the loading process is more accurate and stable.

[0053] The method proposed in this embodiment overcomes the problem that in actual engineering equipment tests, loading systems of different channels usually interfere with each other, resulting in a significant decrease in the performance of the control system. By introducing the dynamic effect of the wind-loaded hydraulic cylinder into the kinematic model and combining it with a loading point displacement estimator, the loading channel is dynamically adjusted during the loading process, and the force transfer path between different channels is accurately simulated, thereby effectively decoupling and reducing dynamic interference.

[0054] The method proposed in this embodiment overcomes the difficulty that conventional control methods are difficult to cope with the challenges brought by complex environmental loads and multi-channel coupling. By using a loading point displacement estimator, the displacement of each loading point is estimated and adjusted in real time, thereby making the control and force output of each loading channel more precise, reducing mutual interference between multiple channels, and improving the control accuracy of the entire loading system.

[0055] In this embodiment, by introducing the kinematic relationship and the loading point displacement estimator, the displacement of each loading point can be accurately estimated and controlled, the coupling interference between multiple channels is effectively eliminated, and accurate decoupling control is achieved, thereby improving the control accuracy of the loading system. By introducing the loading point displacement into the hydraulic cylinder closed-loop control, the frequency response capability and dynamic response speed of the loading system are improved, so that the system can respond to changes in test conditions more quickly and accurately, and the robustness and stability of the loading system are enhanced.

[0056] In traditional methods, the coupling between multiple loading channels will lead to a decrease in the stability and accuracy of the control system. This embodiment reduces the mutual interference between loading channels through a composite decoupling control method, ensures that the force output of each channel is more stable, and solves the problems caused by multi-channel coupling. Furthermore, this method can adapt to the loading requirements under different complex working conditions, and can maintain a high control accuracy in a changing environment. It is suitable for the testing of large-scale engineering equipment and has a strong application scenario. By precisely controlling every detail of the loading process, the instability caused by coupling is avoided, thereby enhancing the reliability and safety of the test platform and ensuring the accuracy and repeatability of the test results.

[0057] Embodiment 2: This embodiment further limits the composite decoupling control method for the engineering equipment test platform described in embodiment 1. In step S1, the road spectrum simulation system is composed of a plurality of hydraulic cylinders in an orthogonal configuration.

[0058] Implementation method 3: This implementation method further limits the composite decoupling control method of the engineering equipment test platform described in implementation method 2. The kinematic relationship between the road spectrum simulation system and the loading point in step S1 is established, including:

[0059] q s =∫(k p J(lm -l)+k i ∫J(l m -l)dt)dt

[0060] Among them, q s is the specimen pose, k p is a proportional controller, k i is the integral gain controller, J is the Jacobian matrix, l m is the hydraulic cylinder displacement command, and l is the hydraulic cylinder displacement feedback.

[0061] Embodiment 4: This embodiment further limits the composite decoupling control method for the engineering equipment test platform described in Embodiment 1, and the step S2 includes:

[0062] P T f c +R T f d =f

[0063] QP T f c +QR T f d =Qf

[0064] Among them, P is the comprehensive coefficient of position, f c For wind-loaded hydraulic cylinder y c Directional force, f d is the hydraulic cylinder output in the wind-load deformation direction, f is the hydraulic cylinder output, Q is the mapping relationship from the hydraulic cylinder output to the deformation force, and R is the mapping relationship from the wind-load hydraulic cylinder displacement to the deformation displacement.

[0065] Embodiment 5: This embodiment further limits the composite decoupling control method for the engineering equipment test platform described in Embodiment 4. The position comprehensive coefficient is obtained by the position discrete coefficient C of the wind-borne hydraulic cylinder loading direction:

[0066] P=(C T C) -1 C T .

[0067] Embodiment 6: This embodiment further limits the composite decoupling control method for the engineering equipment test platform described in Embodiment 1. The mapping relationship between the hydraulic cylinder output and the deformation force is:

[0068] Q=D T

[0069] Where D is the discrete coefficient of the restraining force in the deformation direction of the wind-loaded hydraulic cylinder.

[0070] Embodiment 7: This embodiment further limits the composite decoupling control method for the engineering equipment test platform described in Embodiment 1, and the step S4 includes:

[0071] The displacement of the loading point is measured by the sensor to obtain a position feedback signal;

[0072] The position feedback signal is compared with the set estimated displacement to calculate the error signal;

[0073] The error signal is sent to the controller, and the controller generates a control signal based on the error signal;

[0074] The control signal is used to drive the hydraulic cylinder, which achieves the displacement of the loading point by moving the piston;

[0075] The force applied by the hydraulic cylinder to the test piece is measured by a force sensor, and a force feedback signal is generated;

[0076] The force feedback signal is compared with the set force reference signal to calculate the force error signal;

[0077] The force error signal is sent to the force controller, which generates a force control signal for adjusting the force output of the hydraulic cylinder;

[0078] Through the coordinated work of the force controller and the displacement controller, decoupling control of force and displacement is achieved.

[0079] Embodiment 8. A computer device described in this embodiment includes a memory and a processor, wherein the memory stores a computer program. When the processor runs the computer program stored in the memory, the processor executes the composite decoupling control method for the engineering equipment test platform described in any one of embodiments 1 to 7.

[0080] Embodiment 9. A computer-readable storage medium described in this embodiment stores a computer program, and when the computer program is executed by a processor, the steps of the composite decoupling control method for an engineering equipment test platform as described in any one of embodiments 1 to 7 are executed.

[0081] Implementation Method 10: See Figures 2 to 6 This embodiment provides a specific example of the composite decoupling control method for the engineering equipment test platform described in the first embodiment, and is also used to explain the second to seventh embodiments, specifically:

[0082] Figure 2In the test platform, the entire test platform consists of two subsystems: the road spectrum simulation system 4 and the wind load pseudo force loading system 2. The equipment loading test piece 1 is fixed on the upper platform of the road spectrum simulation system. The road spectrum simulation system 4 mainly simulates the vibration of the road or foundation when the engineering equipment is actually working. In the three directions of X, Y, and Z, the road spectrum simulation system is composed of several hydraulic cylinders in an orthogonal configuration. On the upper platform, the test piece is loaded with wind load pseudo force through a wind load pseudo force loading system composed of several hydraulic cylinders fixed to the reaction foundation 3.

[0083] The specimen is fixed on the platform of the road spectrum simulation system. At this time, the position of the platform and the specimen q needs to be estimated. s ,like Figure 4 As shown in the figure, PI (proportional / integral, k p With k i The displacement error of the hydraulic cylinder must first be converted into spatial information through the Jacobian matrix J, where J is derived from the inverse solution of the mechanism.

[0084] q s =∫(k p J(l m -l)+k i ∫J(l m -l)dt)dt

[0085] Compared with the traditional Newton iteration method for calculating position, this method can effectively reduce the amount of calculation.

[0086] Correspondingly, after finding the platform position on the road spectrum simulation system, according to Figure 5 The motion relationship between the mid-range spectrum simulation system and the wind-loaded system can be used to calculate the position of the wind-loaded hydraulic cylinder and provide a position signal for subsequent high-frequency force decoupling.

[0087] During the test, the movement of the upper platform of the Lupu simulation system is transmitted to the wind-loaded hydraulic cylinder through the test specimen, affecting the dynamic high-frequency loading performance of the wind-loaded hydraulic cylinder; and since multiple wind-loaded hydraulic cylinders are commonly fixed to the same slender loading specimen, the system is an over-static structure with force coupling between channels.

[0088] like Figure 3 As shown in the figure, three wind-loaded hydraulic cylinders are used to load the slender specimen with simulated force. During the test, the test is locked by its own mechanism to perform simulated loading of a certain configuration. It can be seen that there are three wind-loaded hydraulic cylinders loading the same loading direction, and the loaded direction is unique, so two degrees of freedom will be generated inside the three wind-loaded hydraulic cylinders. For such an over-static system, it is necessary to decouple the internal restraint force. Considering the wind-loaded hydraulic cylinder, according to the multi-body kinematics theory,

[0089]

[0090] Among them, C and D are the position dispersion coefficient of the wind-loaded hydraulic cylinder in the loading direction and the restraining force dispersion coefficient of the wind-loaded hydraulic cylinder in the deformation direction, respectively. c is the displacement in the direction of wind load; d is the displacement in the direction of wind load deformation; y is the displacement in the generalized direction of wind load. During the force loading process, the displacement of the hydraulic cylinder is small, so C can be expressed by a small deviation signal. Corresponding to C is the position comprehensive coefficient P, which can be obtained by taking the pseudo-inverse of C

[0091] P=(C T C) -1 C T

[0092] According to the null space theory,

[0093] PD=0

[0094] Set wind-loaded hydraulic cylinder y c Direction output is f c ,y d The output force of the hydraulic cylinder in the deformation direction is f d , R is the mapping relationship between wind-loaded hydraulic cylinder displacement and deformation displacement, Q is the mapping relationship between hydraulic cylinder output and deformation force, then

[0095] P T f c +R T f d =f

[0096] QP T f c +QR T f d =Qf

[0097] Considering the null space theory, we have

[0098] Q=D T

[0099] from Figure 3 It can be seen that the outer loop of the wind-borne hydraulic cylinder is the wind-borne force loading instruction, which is adjusted by the wind-borne controller to enter the internal position closed loop. In the position closed loop, the position comprehensive coefficient is used to integrate the displacements of multiple hydraulic cylinders into loading degrees of freedom for this statically indeterminate system. After passing through the posture controller, the control drive instructions are distributed to each sub-hydraulic cylinder by the position discrete coefficient. Outside the position loop, a restraining force decoupling loop is added. The restraining force comprehensive coefficient is used to integrate multiple hydraulic cylinder forces into loading generalized forces. After being adjusted by the restraining force controller, the control drive instructions are superimposed on the position loop by the restraining force discrete coefficient. It can be seen that the channel decoupling of the wind-borne statically indeterminate system is successfully achieved through restraining force control.

[0100] It should be noted that during loading, the characteristics of each loading channel affect each other. Here, by introducing the speed state information of each channel, cross-decoupling control between channels is performed, such as Figure 6 As shown. When the first channel and the second channel are loaded in coordination, the displacement signal of channel 1 is collected in real time, and then the differential is calculated and fed back to the second channel. By adjusting the gain, the loading force effect of the first channel on the second channel is compensated. And vice versa.

[0101] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0102] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0103] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure rather than to limit its protection scope. Although the present disclosure has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that after reading the present disclosure, those skilled in the art can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the disclosed claims to be approved.

Claims

1. A composite decoupling control method for an engineering equipment test platform, characterized in that: The method comprises: Step S1: establishing a kinematic relationship between the road spectrum simulation system and the loading point according to the geometric dimensions and installation position of the test piece; Step S2: according to the working state of the road spectrum simulation system, the test piece is loaded by using a wind-loaded hydraulic cylinder to obtain the stiffness of the test equipment; Step S3: constructing a loading point displacement estimator according to the established kinematic relationship and the stiffness of the test equipment, and using the loading point displacement estimator to estimate the loading point displacement; Step S4: Introduce the estimated loading point displacement into the closed-loop control of the loading hydraulic cylinder to achieve decoupling control.

2. The composite decoupling control method for an engineering equipment test platform according to claim 1 is characterized in that: In step S1, the road spectrum simulation system is composed of a plurality of hydraulic cylinders in an orthogonal configuration.

3. The composite decoupling control method for an engineering equipment test platform according to claim 2 is characterized in that: The step S1 of establishing the kinematic relationship between the road spectrum simulation system and the loading point includes: q s =∫(k p J(l m -l)+k i ∫J(l m -l)dt)dt Among them, q s is the specimen pose, k p is a proportional controller, k i is the integral gain controller, J is the Jacobian matrix, l m is the hydraulic cylinder displacement command, and l is the hydraulic cylinder displacement feedback.

4. The composite decoupling control method for an engineering equipment test platform according to claim 1 is characterized in that: The step S2 comprises: P T f c +R T f d =f QP T f c +QR T f d =Qf Among them, P is the comprehensive coefficient of position, f c For wind-loaded hydraulic cylinder y c Directional force, f d is the hydraulic cylinder output in the wind-load deformation direction, f is the hydraulic cylinder output, Q is the mapping relationship from the hydraulic cylinder output to the deformation force, and R is the mapping relationship from the wind-load hydraulic cylinder displacement to the deformation displacement.

5. The composite decoupling control method for an engineering equipment test platform according to claim 4 is characterized in that: The position comprehensive coefficient is obtained by the position discrete coefficient C of the wind-loaded hydraulic cylinder loading direction: P=(C T C) -1 C T 。 6. The composite decoupling control method for an engineering equipment test platform according to claim 4 is characterized in that: The mapping relationship between the hydraulic cylinder output and the deformation force is: Q=D T Where D is the discrete coefficient of the restraining force in the deformation direction of the wind-loaded hydraulic cylinder.

7. The composite decoupling control method for an engineering equipment test platform according to claim 1 is characterized in that: The step S4 comprises: The displacement signal of the first channel is collected by the displacement sensor, and the displacement signal of the first channel is differentiated to obtain the speed signal of the first channel; The speed signal of the first channel is used as feedback information and transmitted to the control system of the second channel. The control system of the second channel compensates the influence of the loading force of the first channel on the second channel by adjusting the gain, and measures the force on the test piece through the sensor to generate a force feedback signal. The force feedback signal is compared with the reference signal of the force to obtain a force error signal; At the same time, the displacement sensor in the second channel measures the displacement of the loading point, generates a position feedback signal, and compares it with the estimated displacement of the loading point to obtain a displacement error signal; The velocity feedback signal of the first channel is combined with the force and displacement error signal of the second channel, and processed through decoupling logic. The decoupled signal is sent to the driver of the hydraulic cylinder of the second channel to generate a drive signal. The drive signal controls the action of the hydraulic cylinder of the second channel, thereby realizing the control of the force and displacement of the test piece.

8. A computer device, characterized in that: It includes a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes the composite decoupling control method for the engineering equipment test platform according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the composite decoupling control method for an engineering equipment test platform as described in any one of claims 1 to 7.

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