Composite decoupling control method for engineering equipment test platform

Abstract

This invention relates to a composite decoupling control method for engineering equipment testing platforms, within the field of automatic control technology. It solves the problem of severe output force coupling between channels during multi-channel force loading, leading to low frequency response and poor robustness in the force loading system. The method includes: establishing the kinematic relationship between the road spectrum simulation system and the loading point based on the geometric dimensions and installation position of the test specimen; loading the test specimen using a wind-driven hydraulic cylinder based on the operating state of the road spectrum simulation system to obtain the stiffness of the test equipment; constructing a loading point displacement estimator based on the established kinematic relationship and the stiffness of the test equipment; and using the loading point displacement estimator to estimate the loading point displacement; and introducing the estimated loading point displacement into the closed-loop control of the loading hydraulic cylinder to achieve decoupling control. This invention is applied in the field of heavy equipment testing platforms.

Description

Technical Field

[0001] This 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 Technology

[0002] Engineering equipment testing platforms play a crucial role in modern engineering research and development. They are primarily used to simulate and reproduce the working conditions of engineering equipment under complex service environments, particularly the impact of coupled, variable loads on its performance. By precisely controlling the application of mimicry forces, testing platforms can provide researchers with detailed data, aiding in a deeper understanding of the equipment's operating mechanisms, degradation processes, and various potential failure modes under strongly coupled conditions. Through these tests and analyses, engineers can better predict potential performance changes during actual service, thereby improving equipment reliability and service life.

[0003] During testing, especially when loading large engineering equipment specimens, the multi-channel loading system of the test platform is crucial. Conventional single-channel servo systems typically rely on precise force control to ensure loading accuracy. However, conventional single-channel servo systems are often affected by poor robustness and slow response speed, resulting in limited effectiveness in practical applications. This is particularly true when facing complex loading requirements, making it difficult to meet the high demands for loading accuracy and stability when multiple channels are operating simultaneously.

[0004] The situation becomes more complex when multi-channel force loading is introduced. Severe coupling often exists between the force outputs of different channels, affecting not only the accuracy of force loading but also the dynamic response of the system. Specifically, due to mutual interference and coupling between channels, the force loading system may exhibit lower frequency response characteristics, thus affecting the system's control accuracy and stability. In engineering equipment testing, especially for complex systems, not only are there couplings between loading channels, but there may also be interactions with other factors (such as wind load and vibration in environmental simulation systems). These coupling effects are not negligible during testing; they directly affect the overall performance of the loading system, limit its adjustability and robustness, and consequently impact the reliability and accuracy of the test results.

[0005] This coupling phenomenon is particularly complex in the testing of large-scale engineering equipment. Besides 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 road load variations under different working conditions) with the wind load channel further restricts the system's control performance. Summary of the Invention

[0006] This invention addresses the problem of severe output force coupling between channels during multi-channel force loading, which leads to low frequency response and poor robustness in the force loading system. A composite decoupling control method for an engineering equipment testing platform is proposed, comprising:

[0007] Step S1: Based on the geometric dimensions and installation position of the test specimen, establish the kinematic relationship between the road spectrum simulation system and the loading point;

[0008] Step S2: Based on the working state of the road spectrum simulation system, the test specimen is loaded using a wind-loaded hydraulic cylinder to obtain the stiffness of the test equipment.

[0009] Step S3: Construct a loading point displacement estimator based on the established kinematic relationship and the stiffness of the test equipment, and use 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 decoupled control.

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

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

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

[0014] Where, q s For the specimen pose, k p For a proportional controller, k i For 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 embodiment is proposed, wherein step S2 includes:

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

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

[0018] Where P is the location comprehensive coefficient, f c For wind-loaded hydraulic cylinders y c Directional force, f d Let f be the hydraulic cylinder output force in the direction of wind load deformation, Q be the mapping relationship between hydraulic cylinder output force and deformation force, and R be the mapping relationship between hydraulic cylinder displacement and deformation displacement in the direction of wind load deformation.

[0019] Furthermore, a preferred method is proposed, wherein the position comprehensive coefficient is obtained through the position dispersion coefficient C of the wind-loaded hydraulic cylinder loading direction:

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

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

[0022] Q = D T

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

[0024] Furthermore, a preferred embodiment is proposed, wherein step S4 includes:

[0025] The displacement signal of the first channel is acquired by a displacement sensor, and the velocity signal of the first channel is obtained by differential operation on the displacement 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 for the influence of the loading force of the first channel on the second channel by adjusting the gain, and generates a force feedback signal by measuring the force on the test piece through the sensor. The force feedback signal is compared with the force reference signal to obtain the force error signal.

[0027] Meanwhile, in the second channel, the displacement sensor measures the displacement of the loading point, generates a position feedback signal, compares it with the estimated displacement of the loading point, and obtains the displacement error signal.

[0028] The speed feedback signal from the first channel is combined with the force and displacement error signals from the second channel and processed through decoupling logic. The decoupled signal is then sent to the driver of the second channel hydraulic cylinder to generate a drive signal. The drive signal controls the movement of the second channel hydraulic cylinder, thereby achieving 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 for engineering equipment test platforms according to any one of the above claims.

[0030] Based on the same inventive concept, the present invention also proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the composite decoupling control method for the engineering equipment test platform as described in any of the above-mentioned embodiments.

[0031] The advantages of this invention are:

[0032] The method proposed in this invention overcomes the problem that strong mutual coupling between channels in a multi-channel force loading system severely restricts the system's response capability. By constructing kinematic relationships and combining them with a loading point displacement estimator, accurate estimation of the loading point displacement is achieved, thereby effectively eliminating or reducing coupling interference between different channels during the loading process. Using this method, the behavior of each loading channel can be precisely controlled, reducing the instability caused by coupling effects.

[0033] The method proposed in this invention overcomes the problem of low frequency response and difficulty in ensuring loading accuracy in traditional single-channel or simple multi-channel loading systems due to the coupling between force loading channels and the dynamic characteristics of the system. By introducing the displacement of the loading point into the closed-loop control of the hydraulic cylinder, a more precise decoupled 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, thus making the loading process more accurate and stable.

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

[0035] The method proposed in this invention overcomes the challenge of conventional control methods being unable to cope with complex environmental loads and the challenges brought by 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 accurate, reducing mutual interference between multiple channels, and improving the control accuracy of the entire loading system.

[0036] This invention, through the introduction of kinematic relationships and a loading point displacement estimator, enables precise estimation and control of the displacement of each loading point, effectively eliminating coupling interference between multiple channels and achieving precise decoupling control, thereby improving the control accuracy of the loading system. By incorporating the loading point displacement into the closed-loop control of the hydraulic cylinder, the frequency response capability and dynamic response speed of the loading system are improved, enabling the system to respond more quickly and accurately to changes in test conditions, thus enhancing the robustness and stability of the loading system.

[0037] In traditional methods, coupling between multiple loading channels leads to a decrease in the stability and accuracy of the control system. This invention reduces mutual interference between loading channels through a composite decoupling control method, ensuring more stable force output for each channel and solving the problems caused by multi-channel coupling. Furthermore, this method can adapt to loading requirements under various complex working conditions and maintain high control accuracy in changing environments, making it suitable for testing large-scale engineering equipment and possessing broad application scenarios. By precisely controlling every detail of the loading process, instability caused by coupling is avoided, thereby enhancing the reliability and safety of the test platform and ensuring the accuracy and repeatability of test results.

[0038] This invention is applied to the field of heavy equipment testing. Attached Figure Description

[0039] Figure 1 The flowchart is shown below for the composite decoupling control method of the engineering equipment test platform described in Implementation Method 1.

[0040] Figure 2 This is a schematic diagram of the engineering equipment test platform described in Implementation Method 10, wherein 1 is the test piece, 2 is the wind load loading system, 3 is the reaction foundation, and 4 is the road spectrum simulation system;

[0041] Figure 3 The diagram shows the control structure of the wind load system of the test platform as described in Embodiment 10, where a, b, and c are the distances from the base point to the loading points of the three wind load hydraulic cylinders.

[0042] Figure 4 This is a block diagram of the pose solving system for the road spectrum simulation system described in Implementation Method 10;

[0043] Figure 5 This is a simplified model diagram of the wind-loaded hydraulic cylinder and the test specimen as described in Embodiment 10, where A is the cross-sectional area of ​​the wind-loaded hydraulic cylinder, and M... d M is the equivalent mass of the piston in the wind-driven hydraulic cylinder. s For 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, and q is the displacement of the wind-loaded hydraulic cylinder. s k represents the displacement of the specimen. bFor the equivalent stiffness of the specimen, B b This is the equivalent damping ratio;

[0044] Figure 6 This is a schematic diagram of the cross-decoupling control described in Implementation Method 10. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0046] Implementation Method 1, see Figure 1 This embodiment describes a composite decoupling control method for an engineering equipment testing platform. The method includes:

[0047] Step S1: Based on the geometric dimensions and installation position of the test specimen, establish the kinematic relationship between the road spectrum simulation system and the loading point;

[0048] Step S2: Based on the working state of the road spectrum simulation system, the test specimen is loaded using a wind-loaded hydraulic cylinder to obtain the stiffness of the test equipment.

[0049] Step S3: Construct a loading point displacement estimator based on the established kinematic relationship and the stiffness of the test equipment, and use the loading point displacement estimator to estimate the loading point displacement.

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

[0051] The method proposed in this embodiment overcomes the problem that strong mutual coupling between channels in a multi-channel force loading system severely restricts the system's response capability. By constructing kinematic relationships and combining them with a loading point displacement estimator, accurate estimation of the loading point displacement is achieved, thereby effectively eliminating or reducing coupling interference between different channels during the loading process. Using this method, the behavior of each loading channel can be precisely controlled, reducing the instability caused by coupling effects.

[0052] The method proposed in this embodiment overcomes the problem of low frequency response and difficulty in ensuring loading accuracy in traditional single-channel or simple multi-channel loading systems due to the coupling between force loading channels and the dynamic characteristics of the system. By introducing the displacement of the loading point into the closed-loop control of the hydraulic cylinder, a more precise decoupled 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, thus making the loading process more accurate and stable.

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

[0054] The method proposed in this embodiment overcomes the challenge of conventional control methods being unable to cope with complex environmental loads and the challenges brought by 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 accurate, reducing mutual interference between multiple channels, and improving the control accuracy of the entire loading system.

[0055] In this embodiment, by introducing kinematic relationships and a loading point displacement estimator, the displacement of each loading point can be accurately estimated and controlled, effectively eliminating coupling interference between multiple channels and achieving precise decoupling control, thereby improving the control accuracy of the loading system. By introducing the loading point displacement into the closed-loop control of the hydraulic cylinder, the frequency response capability and dynamic response speed of the loading system are improved, enabling the system to respond more quickly and accurately to changes in test conditions, thus enhancing the robustness and stability of the loading system.

[0056] In traditional methods, coupling between multiple loading channels leads to a decrease in the stability and accuracy of the control system. This implementation method reduces mutual interference between loading channels through a composite decoupling control approach, ensuring more stable force output for each channel and resolving the problems caused by multi-channel coupling. Furthermore, this method can adapt to loading requirements under various complex working conditions and maintain high control accuracy in changing environments, making it suitable for testing large-scale engineering equipment and possessing broad application scenarios. By precisely controlling every detail of the loading process, instability caused by coupling is avoided, thereby enhancing the reliability and safety of the test platform and ensuring the accuracy and repeatability of test results.

[0057] Implementation Method 2: This implementation method further defines the composite decoupling control method for the engineering equipment test platform described in Implementation Method 1. In step S1, the road spectrum simulation system is composed of several hydraulic cylinders in an orthogonal configuration.

[0058] Implementation Method 3: This implementation method further defines the composite decoupling control method for the engineering equipment test platform described in Implementation Method 2. The step S1, establishing the kinematic relationship between the road spectrum simulation system and the loading point, includes:

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

[0060] Where, q s For the specimen pose, k p For a proportional controller, k i For 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] Implementation Method Four: This implementation method further defines the composite decoupling control method for the engineering equipment test platform described in Implementation Method One. Step S2 includes:

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

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

[0064] Where P is the location comprehensive coefficient, f c For wind-loaded hydraulic cylinders y c Directional force, f d Let f be the hydraulic cylinder output force in the direction of wind load deformation, Q be the mapping relationship between hydraulic cylinder output force and deformation force, and R be the mapping relationship between hydraulic cylinder displacement and deformation displacement in the direction of wind load deformation.

[0065] Implementation Method 5: This implementation method further defines the composite decoupling control method for the engineering equipment test platform described in Implementation Method 4. The position comprehensive coefficient is obtained through the position dispersion coefficient C of the wind-loaded hydraulic cylinder loading direction.

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

[0067] Implementation Method Six: This implementation method further defines the composite decoupling control method for the engineering equipment test platform described in Implementation Method One. The mapping relationship between the hydraulic cylinder output force and the deformation force is as follows:

[0068] Q = D T

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

[0070] Implementation Method Seven: This implementation method further defines the composite decoupling control method for the engineering equipment test platform described in Implementation Method One. Step S4 includes:

[0071] The position feedback signal is obtained by measuring the displacement of the loading point using sensors;

[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, which generates a control signal based on the error signal.

[0074] The control signal is used to drive the hydraulic cylinder, which moves the piston to achieve the displacement of the loading point.

[0075] The force applied to the test piece by the hydraulic cylinder 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 to adjust the force output of the hydraulic cylinder.

[0078] By working together with a force controller and a displacement controller, decoupled control of force and displacement is achieved.

[0079] Implementation Method 8: A computer device according to this implementation method includes a memory and a processor. 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 engineering equipment test platforms according to any one of Implementation Methods 1 to 7.

[0080] Implementation Method Nine: A computer-readable storage medium according to this implementation method, wherein a computer program is stored on the computer program, and the computer program is executed by a processor to perform the steps of the composite decoupling control method for the engineering equipment test platform as described in any one of Implementation Methods One to Seven.

[0081] Implementation Method 10, see below Figures 2 to 6 This embodiment describes a specific example of the composite decoupling control method for the engineering equipment test platform described in Embodiment 1. It also serves to explain Embodiments 2 through 7. Specifically:

[0082] Figure 2The entire test platform consists of two subsystems: a road spectrum simulation system 4 and a wind load mimicry force loading system 2. The test specimen 1 is fixed to the upper platform of the road spectrum simulation system. The road spectrum simulation system 4 primarily simulates the vibration of roads or foundations during actual operation of the engineering equipment. In the X, Y, and Z directions, the road spectrum simulation system is composed of several hydraulic cylinders in an orthogonal configuration. On the upper platform, the specimen is subjected to wind load mimicry force loading through a wind load mimicry 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 point, it is necessary to estimate the position q of the platform and the specimen. s ,like Figure 4 As shown in the figure. The figure uses PI (proportional / integral), k... p With k i This is a proportional-integral-gain controller. The displacement error of the hydraulic cylinder needs to be converted into spatial information through the Jacobian matrix J, where J is derived from inverse kinematics.

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

[0085] This method can effectively reduce the amount of computation compared to the traditional Newton-Raphson iteration method for calculating position.

[0086] Accordingly, after determining the platform location on the road spectrum simulation system, based on Figure 5 By analyzing the motion relationship between the mid-range spectrum simulation system and the wind load system, the position of the wind load hydraulic cylinder can be determined, providing a position signal for subsequent high-frequency force decoupling.

[0087] During the test, the motion of the upper platform of the road spectrum 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. Since multiple wind-loaded hydraulic cylinders are jointly fixed to the same slender loading specimen, the system is a statically indeterminate structure containing force coupling between channels.

[0088] like Figure 3 As shown, three wind-loaded hydraulic cylinders apply mimicry force to a slender specimen. During the experiment, the specimen is locked by its own mechanism to perform mimicry loading on a specific configuration. It can be seen that three wind-loaded hydraulic cylinders apply load in the same direction, and since the direction of loading is unique, two degrees of freedom restraint forces are generated within the three cylinders. For such a statically indeterminate system, it is necessary to decouple and control these internal restraint forces. Considering the wind-loaded hydraulic cylinders, based on multibody kinematics theory...

[0089]

[0090] Where C and D are the positional dispersion coefficients in the loading direction of the wind-loaded hydraulic cylinder and the restraining force dispersion coefficients in the deformation direction of the wind-loaded hydraulic cylinder, respectively. c Displacement in the direction of wind load; y d y represents the displacement in the direction of wind load deformation; y represents the generalized displacement in the 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] From the null space theory,

[0093] PD=0

[0094] Let the wind-loaded hydraulic cylinder y c The directional output force is f c y d The hydraulic cylinder output force in the deformation direction is f d Let R be the mapping relationship between the displacement of the hydraulic cylinder under wind load and the deformation displacement, and Q be the mapping relationship between the output force of the hydraulic cylinder and the deformation force. Then we have

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

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

[0097] Considering null space theory, then we have

[0098] Q = D T

[0099] from Figure 3 It can be seen that the outer loop of the wind-loaded hydraulic cylinder receives the wind load force loading command, which is adjusted by the wind load controller and enters the internal position closed loop. Within the position closed loop, for this statically indeterminate system, the displacements of multiple hydraulic cylinders are synthesized into loading degrees of freedom using position synthesis coefficients. After passing through the posture controller, the control drive commands are distributed to each sub-hydraulic cylinder using position dispersion coefficients. Outside the position loop, a restraining force decoupling loop is added. The forces of multiple hydraulic cylinders are synthesized into a generalized loading force using restraining force synthesis coefficients. After adjustment by the restraining force controller, the control drive commands are superimposed onto the position loop using restraining force dispersion coefficients. It can be seen that through restraining force control, the channel decoupling of this statically indeterminate wind-loaded system is successfully achieved.

[0100] It is important to note that during loading, the characteristics of each loading channel influence each other. Therefore, by introducing the speed status information of each channel, cross-decoupling control between channels is implemented, such as... Figure 6 As shown. When the first and second channels are loaded in a coordinated manner, the displacement signal of channel 1 is acquired in real time, its derivative is calculated, and then fed back to the second channel. By adjusting the gain, the influence of the loading force of the first channel on the second channel is compensated. Conversely, the same applies.

[0101] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied 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] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 a process or multiple processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0103] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps of the function 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 this disclosure and not to limit its protection scope. Although this disclosure has been described in detail with reference to the above embodiments, those skilled in the art should understand that after reading this disclosure, they can still make various changes, modifications or equivalent substitutions to the specific implementation of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the published pending claims.

Claims

1. A composite decoupling control method for engineering equipment testing platforms, characterized in that, The method includes: Step S1: Based on the geometric dimensions and installation location of the test specimen, establish the kinematic relationship between the road spectrum simulation system and the loading point; Step S2: Based on the working state of the road spectrum simulation system, the test specimen is loaded using a wind-loaded hydraulic cylinder to obtain the stiffness of the test equipment. Step S3: Construct a loading point displacement estimator based on the established kinematic relationship and the stiffness of the test equipment, and use 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 decoupled control; In step S1, the road spectrum simulation system is composed of several hydraulic cylinders in an orthogonal configuration. The step S1, which establishes the kinematic relationship between the road spectrum simulation system and the loading point, includes: in, q s For the specimen pose, k p It is a proportional controller. k i It is an integral gain controller. J For Jacobian matrices, l m This is a hydraulic cylinder displacement command. l For hydraulic cylinder displacement feedback; Step S4 includes: The displacement signal of the first channel is acquired by a displacement sensor, and the velocity signal of the first channel is obtained by differential operation on the displacement 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 for the influence of the loading force of the first channel on the second channel by adjusting the gain, and generates a force feedback signal by measuring the force on the test piece through the sensor. The force feedback signal is compared with the force reference signal to obtain the force error signal. Meanwhile, in the second channel, the displacement sensor measures the displacement of the loading point, generates a position feedback signal, compares it with the estimated displacement of the loading point, and obtains the displacement error signal. The speed feedback signal from the first channel is combined with the force and displacement error signals from the second channel and processed through decoupling logic. The decoupled signal is then sent to the driver of the second channel hydraulic cylinder to generate a drive signal. The drive signal controls the movement of the second channel hydraulic cylinder, thereby achieving control of the force and displacement of the test piece.

2. The composite decoupling control method for engineering equipment testing platforms according to claim 1, characterized in that, Step S2 includes: in, P This is the location comprehensive coefficient. For wind-loaded hydraulic cylinders Directional effort, The hydraulic cylinder outputs force in the direction of wind load deformation. f To provide power to the hydraulic cylinder, Q This represents the mapping relationship between the output force of the hydraulic cylinder and the deformation force. R This represents the mapping relationship between the displacement of the hydraulic cylinder under wind load and the deformation displacement.

3. The composite decoupling control method for engineering equipment testing platforms according to claim 2, characterized in that, The position comprehensive coefficient is obtained by using the position dispersion coefficient in the loading direction of the wind-loaded hydraulic cylinder. C Get: 。 4. The composite decoupling control method for engineering equipment testing platforms according to claim 2, characterized in that, The mapping relationship between the hydraulic cylinder output force and the deformation force is as follows: in, D The coefficient of variation of the restraining force in the deformation direction of the wind-loaded hydraulic cylinder is given.

5. 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 1-4.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the composite decoupling control method for the engineering equipment test platform as described in any one of claims 1-4.

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