Loading test platform and control method thereof
By designing a test platform including a loading system, a measurement system and a control system, the problems of control accuracy deviation and insufficient force sensors in the prior art are solved, and accurate six-degree-of-free loading control of the wind turbine transmission system is achieved.
Patent Information
- Application Number
- CN202311402537.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-10-26
- Publication Date
- 2025-05-06
AI Technical Summary
When controlling the wind turbine test platform, the existing multi-degree of freedom mechanisms have huge sizes and deviations from the model size, resulting in a deviation in control accuracy, which cannot meet user needs. At the same time, there is a lack of six-degree of freedom force sensors and calibration devices suitable for large loads and multi-degree of freedom loads.
A loading test platform is designed, including a loading system, a measurement system and a control system. The loading system simulates the bending moment, axial force and radial force on the subject components through multiple actuators. The measurement system measures these loads in real time. The control system adjusts the output of the actuator based on the target load and real-time measurement data to achieve accurate six-degree of freedom loading control.
It improves the control accuracy of the test platform, can achieve accurate loading of the wind turbine drive system under high load conditions, extends the service life of the force measuring sensor, and reduces maintenance costs.
Smart Images
Figure CN119933950A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of experiment and testing technology, and more specifically, to a loading test platform and a control method thereof. Background Art
[0002] As the capacity of wind turbines (abbreviated as wind turbines, wind turbines or turbines) increases, the price of turbines continues to fall, and the turbines move toward deep-sea strategies, the reliability and life of wind turbines and key components (generators, gearboxes, main bearings) have been challenged more severely. Verification on the test bench can greatly improve the efficiency of turbine performance testing compared to wind power sites, so more and more complete machine manufacturers, component manufacturers, research institutions, etc. choose to establish experimental platforms for turbine performance testing. The six-degree-of-freedom loading test platform can simulate the static and dynamic loads imposed on the transmission system by the impeller of the unit in real environments (including normal operating conditions, extreme operating conditions, etc.), including torque, bending moment, axial force, radial force, etc., so as to evaluate the indicators of large components such as main bearings and gearboxes.
[0003] Existing multi-degree-of-freedom mechanisms (such as robots and manipulators) basically calculate and control the motion trajectory based on dynamic models and theoretical models. Due to the huge size and the deviation between the installation size and the model size, the multi-degree-of-freedom wind power loading test platform has deviations in control accuracy based entirely on dynamic models and theoretical models, and cannot meet the needs of users.
[0004] Existing similar technologies are mainly used in the fields of robotics and automobiles, and the control of motion trajectory is mainly achieved through displacement control. However, this method is not suitable for fan experimental platforms with large loads and multi-degree-of-freedom loading. When controlling the controller of the loading system based on dynamic models and theoretical models, the controller may be unable to accurately track the reference signal (especially when dynamic load loading is performed), which will lead to relatively large deviations in loading accuracy.
[0005] In addition, the axial force and radial force of the wind turbine test platform reach several meganewtons, and the torque and bending moment reach tens of meganewton-meters. Currently, the industry lacks a large-range six-degree-of-freedom force sensor and a six-degree-of-freedom calibration device for calibrating the sensor. Summary of the invention
[0006] In order to at least solve the above problems in the prior art, the present disclosure provides a loading test platform and a control method thereof.
[0007] According to a first aspect of the present disclosure, a loading test platform includes: a loading system, including multiple actuators for simulating at least one of the bending moment, axial force and radial force on a test component; a measuring system, including a force sensor for measuring in real time at least one of the bending moment, axial force and radial force transmitted to the test component by the loading system; a control system, sending a target bending moment, a target axial force and / or a target radial force to the loading system, wherein the loading system is configured to calculate the output of the multiple actuators based on the target bending moment, the target axial force and / or the target radial force, and adjust the output of the multiple actuators based on at least one of the bending moment, axial force and radial force measured in real time by the measurement system and the corresponding target bending moment, target axial force and / or target radial force.
[0008] According to an embodiment of the present disclosure, the loading system can be further configured to calculate the output of multiple actuators based on at least one of the bending moment, axial force and radial force measured in real time by the measurement system and a predetermined transfer matrix, wherein the number of rows of the transfer matrix is the number of multiple actuators, and the number of columns of the transfer matrix is the number of at least one of the bending moment, axial force and radial force.
[0009] According to an embodiment of the present disclosure, the transfer matrix can be predetermined in the following manner: measuring the output of each actuator by a force sensor installed on each actuator and measuring the corresponding bending moment, corresponding axial force and corresponding radial force on the test component by a measuring system; adjusting the output of multiple actuators, correspondingly measuring the output of each actuator by a force sensor and correspondingly measuring the corresponding bending moment, corresponding axial force and corresponding radial force on the test component by a measuring system, repeating the steps of adjusting the output, measuring the output and measuring the corresponding bending moment, corresponding axial force and corresponding radial force, and determining the transfer matrix based on the measured multiple outputs and the corresponding multiple bending moments, multiple axial forces and multiple radial forces.
[0010] According to an embodiment of the present disclosure, the loading system can be configured to perform PID control on multiple actuators with a target bending moment, a target axial force or a target radial force as a reference value, so that at least one of the bending moment, axial force and radial force transmitted to the test component by the loading system measured in real time becomes a corresponding target value.
[0011] According to an embodiment of the present disclosure, the loading test platform may further include a drag system, which is connected to the test component and simulates the torque on the test component. The control system is further configured to adjust the output of the drag system in response to the absolute value of the difference between the torque measured by the measurement system and the target torque being outside a preset range so that the absolute value of the difference is within a preset range.
[0012] According to an embodiment of the present disclosure, the tested component may be a transmission system of a wind turbine generator set, the loading system is a five-degree-of-freedom loading system, and the torque includes the torque M x, the bending moment includes the first bending moment M y and the second bending moment M z , the radial force includes the first radial force F y and the second radial force F z .
[0013] According to an embodiment of the present disclosure, the plurality of actuators may include a plurality of hydraulic cylinders, the loading system may further include a loading arm and a base, both ends of each of the plurality of hydraulic cylinders are respectively connected to the loading arm and the base, and a first group of hydraulic cylinders in the plurality of hydraulic cylinders is arranged along a first direction perpendicular to the loading arm for simulating an axial force, a first bending moment M y and the second bending moment M z The second group of hydraulic cylinders in the plurality of hydraulic cylinders is arranged along a second direction perpendicular to the first direction to simulate a first radial force F y and the second radial force F z The first group of hydraulic cylinders are arranged in pairs on both sides of the loading arm, and the second group of hydraulic cylinders are arranged in pairs on both sides of the loading arm of the loading test platform.
[0014] According to an embodiment of the present disclosure, the measurement system may send the measurement data of the force sensor to the control system in real time through the reflective memory.
[0015] According to a second aspect of the present disclosure, a control method for a loading test platform is provided. The control method utilizes the above-mentioned loading test platform, and the control method includes: calculating the output of multiple actuators according to at least one of a target bending moment instruction, a target axial force instruction, and a target radial force instruction received from a control system; and controlling the multiple actuators accordingly to load the load according to the calculated output of the multiple actuators;
[0016] The output of multiple actuators is adjusted according to at least one of the bending moment, axial force and radial force transmitted to the test component by the loading system measured in real time by the measurement system and the corresponding target bending moment, target axial force and / or target radial force.
[0017] According to an embodiment of the present disclosure, the control method may further include a calibration step of calibrating the force sensor by means of a calibration device, the calibration device including: a base and a loading part, the base being used to fix the force sensor, and the force sensor being located between the base and the loading part; a first group of calibration cylinders, respectively arranged along a third direction parallel to the loading part, and arranged on the side of the loading part; a second group of calibration cylinders, respectively arranged above the loading part along a fourth direction perpendicular to the third direction; wherein both ends of each of the first group of calibration cylinders and the second group of calibration cylinders are respectively connected to the loading part and the external bearing member, and a force sensor is installed on each of the first group of calibration cylinders and the second group of calibration cylinders.
[0018] According to an embodiment of the present disclosure, the first group of calibration cylinders may include a first calibration cylinder and a second calibration cylinder, the second group of calibration cylinders may include a third calibration cylinder, a fourth calibration cylinder, a fifth calibration cylinder and a sixth calibration cylinder, and the calibration step may include: applying different loads through the first calibration cylinder, the second calibration cylinder, the third calibration cylinder, the fourth calibration cylinder, the fifth calibration cylinder and the sixth calibration cylinder; measuring strain signals under different loads through a force sensor; and determining a transfer function between load and strain based on the load and strain signals.
[0019] According to an embodiment of the present disclosure, the step of applying different loads through the first calibration cylinder, the second calibration cylinder, the third calibration cylinder, the fourth calibration cylinder, the fifth calibration cylinder, and the sixth calibration cylinder may include: applying the same force in opposite directions through the first calibration cylinder and the second calibration cylinder to apply the first load M x ; Apply the same force in the opposite direction through the third calibration cylinder and the fourth calibration cylinder to apply the second load M y ; Apply the same force in the opposite direction through the fifth and sixth calibration cylinders to apply a third load M z ; Apply the same force in the same direction through the fifth calibration cylinder and the sixth calibration cylinder to apply the fourth load F x ; Apply the same force in the same direction through the first calibration cylinder and the second calibration cylinder to apply the sixth load F z ; Rotate the load cell 90° and apply the same force in the same direction through the first calibration cylinder and the second calibration cylinder to apply the fifth load F y .
[0020] The loading test platform according to the embodiment of the present disclosure can accurately measure the bending moment, torque, axial force and radial force applied by the loading system to the test component.
[0021] According to the embodiment of the present disclosure, the loading test platform transmits the measured bending moment, torque, axial force, radial force and other parameters to the control system in real time. The control system forms a closed loop with the controller loading control based on the measured data, thereby improving the control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 is a schematic diagram showing a loading test platform according to an embodiment of the present disclosure.
[0023] Figure 2 is a perspective view showing a loading system according to an embodiment of the present disclosure.
[0024] Figure 3 Graphs show different loads measured by a six-DOF force sensor according to the present disclosure.
[0025] Figure 4is a control block diagram showing a loading test platform according to an embodiment of the present disclosure.
[0026] Figure 5 is a block diagram showing a closed-loop control according to an embodiment of the present disclosure.
[0027] Figure 6 is a flow chart showing a control method of a loading test platform according to an embodiment of the present disclosure.
[0028] Figure 7 is a perspective view showing a calibration device according to an embodiment of the present disclosure.
[0029] Figure 8 is a flow chart showing a calibration procedure apparatus according to an embodiment of the present disclosure.
[0030] Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings, and the same or similar elements will be indicated by the same or similar reference numerals throughout the accompanying drawings. DETAILED DESCRIPTION
[0031] The following detailed description is provided to help gain a comprehensive understanding of the methods, devices and / or systems described herein. However, the order of operations described herein is only an example and is not limited to those orders set forth herein, but may be equivalently replaced or changed except for operations that must occur or be performed in a specific order. In addition, for greater clarity and simplicity, the description of content known in the art will be omitted or simplified.
[0032] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by a person of ordinary skill in the art to which the present disclosure belongs after understanding the present disclosure. Unless explicitly defined as such herein, terms (such as those defined in a general dictionary) should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and should not be interpreted in an idealized or overly formal manner.
[0033] Without special instructions, the same reference numerals generally refer to the same elements (e.g., components, steps, and methods). Reference numerals described in the previous embodiments may be omitted if they appear again in the subsequent embodiments. In addition, the technical features described in different or the same embodiments may be combined in any manner, as long as the combined embodiments or technical solutions are complete and can solve the technical problems of the present application or achieve the technical effects described or not described in the present disclosure but can be determined based on the above complete technical solutions. The preferred embodiments of the present disclosure will be described below in conjunction with the accompanying drawings.
[0034] Figure 1 is a schematic diagram showing a loading test platform according to an embodiment of the present disclosure; Figure 2is a perspective view showing a loading system according to an embodiment of the present disclosure; Figure 3 1 is a diagram showing different loads measured by a six-degree-of-freedom force sensor according to the present disclosure; Figure 4 is a control block diagram showing a loading test platform according to an embodiment of the present disclosure.
[0035] Reference Figures 1 to 4 According to an embodiment of the present disclosure, the loading test platform includes a loading system 2 , a measuring system 5 and a control system 6 .
[0036] In addition, the loading test platform according to the embodiment of the present disclosure may also include a towing system 1 connected to the test component and simulating the torque on the test component. The loading system 2, the towing system 1 (for example, a towing motor) and the test component 3 (for example, the test unit (direct drive, medium speed, double-fed and other complete machines), or the transmission system or key components of the test unit (for example, gearbox, main bearing, generator, etc.)) can all be fixed on the ground, and the test component 3 can be fixed on the foundation 4, which is a workpiece supporting the test component. In addition to the loading system 2, the towing system 1, etc., the loading test platform of the embodiment of the present disclosure may also include matching tooling, auxiliary equipment, etc. The loading system 2 and the towing system 1 can both apply load to the test component 3 through the loading shaft 9.
[0037] Taking a wind turbine as an example, the loading test platform of the embodiment of the present disclosure may be a wind turbine test platform, and the dragging system 1 may simulate a degree of freedom in one direction (load M x ) to simulate the torque transmitted to the transmission system by the impeller of the fan. The loading system 2 can simulate the degrees of freedom in five directions to simulate the bending moment, axial force, radial force, etc. transmitted to the transmission system by the impeller of the fan. The torque includes torque M x , the bending moment includes the first bending moment M y and the second bending moment M z , the radial force includes the first radial force F y and the second radial force F z .
[0038] As an example, the loading system 2 may include a first bending moment M for simulating the test component. y and the second bending moment M z , axial force F x , the first radial force F y and the second radial force F z The actuators may be linear actuators such as hydraulic cylinders, air cylinders, and electric cylinders.
[0039] The loading system 2 may be a five-degree-of-freedom loading system, and thus may be loaded with five types of loads. The five types of loads may include a first bending moment M y (Second load), Second bending moment M z(Third load), first radial force F y (Fifth load), second radial force F z (sixth load) and axial force F x (Fourth load), please refer to Figure 3 , axial force F x The direction may be the extension direction of the rotor axis of the traction motor, and the traction motor may apply a torque M to the test component 3. x (First load). First radial force F y , the second radial force F z and axial force F x Any two of them can be perpendicular to each other.
[0040] For details, please refer to Figure 2 The multiple actuators may include multiple hydraulic cylinders, and the loading system 2 may also include a loading arm 8 and a base (not shown), where the base may be a fixed supporting component such as a wall.
[0041] Both ends of each of the plurality of hydraulic cylinders can be connected to the loading arm 8 and the base, respectively. The plurality of hydraulic cylinders can be divided into a first group of hydraulic cylinders extending in the axial direction (the rotor axis direction of the traction motor or the loading axis 9 of the loading test platform) and a second group of hydraulic cylinders extending in a direction perpendicular to the axis. The first group of hydraulic cylinders can be arranged in a first direction perpendicular to the loading arm 8 to simulate the axial force F x , the first bending moment M y and the second bending moment M z The second group of hydraulic cylinders in the plurality of hydraulic cylinders may be arranged along a second direction perpendicular to the first direction to simulate the first radial force F y and the second radial force F z The loading arm 8 may be disposed on the side of the loading shaft 9 .
[0042] The first group of hydraulic cylinders are arranged in pairs on both sides of the loading arm 8, and the second group of hydraulic cylinders are arranged in pairs on both sides of the loading shaft 9 of the loading test platform. Figure 2 , the plurality of hydraulic cylinders may include twelve cylinders, the first group of hydraulic cylinders may include eight hydraulic cylinders, namely, the first hydraulic cylinder 11, the second hydraulic cylinder 12, the third hydraulic cylinder 13, the fourth hydraulic cylinder 14, the fifth hydraulic cylinder 15, the sixth hydraulic cylinder 16, the seventh hydraulic cylinder 17, and the eighth hydraulic cylinder 18. The second group of hydraulic cylinders may include four hydraulic cylinders, namely, the ninth hydraulic cylinder 19, the tenth hydraulic cylinder 20, the eleventh hydraulic cylinder 21, and the twelfth hydraulic cylinder 22.
[0043] There can be multiple loading arms 8, the first group of hydraulic cylinders are installed on four loading arms, and the second group of hydraulic cylinders are installed on four loading arms. The four loading arms corresponding to the first group of hydraulic cylinders can be arranged at equal angular intervals around the loading axis 9, and the four loading arms corresponding to the second group of hydraulic cylinders can also be arranged at equal angular intervals around the loading axis 9.
[0044] The first hydraulic cylinder 11 and the second hydraulic cylinder 12 can be arranged in pairs on both sides of the loading arm, the third hydraulic cylinder 13 and the fourth hydraulic cylinder 14 can be arranged in pairs on both sides of the loading arm, the fifth hydraulic cylinder 15 and the sixth hydraulic cylinder 16 can be arranged in pairs on both sides of the loading arm, and the seventh hydraulic cylinder 17 and the eighth hydraulic cylinder 18 can be arranged in pairs on both sides of the loading wall. The ninth hydraulic cylinder 19 and the tenth hydraulic cylinder 20 can be arranged in pairs on both sides of the loading shaft, and the eleventh hydraulic cylinder 21 and the twelfth hydraulic cylinder 22 can be arranged in pairs on both sides of the loading shaft. The two hydraulic cylinders are arranged in pairs, which means that the extension lines of the telescopic rods of the two hydraulic cylinders are on the same straight line (the directions of the applied forces are in the same direction).
[0045] Reference Figure 4 The measurement system 5 includes a force sensor for measuring at least one of the bending moment, axial force and radial force transmitted to the test component by the loading system. Generally, the loading system can be connected to the test component (for example, the test unit) through a flange structure, and the torque, bending moment, axial force and radial force transmitted to the test component by the loading system and the dragging system can be measured by installing a force sensitive element (force sensor) on the flange. The force sensor can be a six-degree-of-freedom sensor.
[0046] The measuring system can use the reflective memory to store the measurement data (M x 、M y 、M z 、F x 、F y 、F y ) is sent to the control system 6 in real time, and the control system 6 can send the measurement data to the loading system.
[0047] The control system 6 may send a target bending moment, a target axial force and / or a target radial force to the loading system 2. The loading system 2 may be configured to calculate the output of multiple actuators according to the target bending moment, the target axial force and / or the target radial force. The loading system 2 may adjust the output of multiple actuators to the calculated output to load the load. The loading system 2 may adjust the output of multiple actuators according to at least one of the bending moment, axial force and radial force measured in real time by the measurement system and the corresponding target bending moment, target axial force and / or target radial force, thereby changing the load transmitted by the loading system to the test component into the target load. The loading system 2 may be configured to calculate the output of multiple actuators according to the target bending moment M. y and M z , target axial force Fx and the target radial force F y and F z The initial outputs of multiple actuators are calculated, and after these loads are applied to the test component, the six-degree-of-freedom force sensor measures the corresponding loads. Then, the loading system can adjust the outputs of multiple actuators according to at least one of the bending moment, axial force and radial force measured in real time by the measurement system and the corresponding target bending moment, target axial force and / or target radial force. The relationship between the difference between the target load and the measured load and the cylinder output and the initial output of the cylinder can be predetermined. As an example, the loading system can perform PID control on the outputs of multiple actuators with the target bending moment, target axial force and / or target radial force as reference values, so that the load data measured in real time becomes the target load. When loading dynamic loads, control can also be performed in a similar manner.
[0048] In addition, the control system 6 may be further configured to adjust the output of the traction system so that the absolute value of the difference between the torque measured by the measurement system and the target torque is within the preset range in response to the absolute value of the difference between the torque measured by the measurement system and the target torque being outside the preset range.
[0049] Reference Figure 4 , taking the fan as an example, the specific control process is as follows: the real-time control system sends the initial speed to the drag system, and the drag system drives the mechanical transmission chain to rotate; the real-time control system calculates the torque M to be sent according to the current speed and the power curve x To the test unit, the test unit generates electricity according to the speed and torque; the real-time control system sends the target bending moment M y and M z , axial force F x , radial force F y and F z For the five-degree-of-freedom loading system, the loading system calculates the force that each actuator should output according to the received instructions and sends it; the six-degree-of-freedom force sensor sends the measured load to the measurement system through optical fiber; the measurement system transmits the measured load to the real-time control system through reflective memory; the real-time control system compares the measured torque with the target torque and readjusts the output of the traction motor; the real-time control system transmits the measured bending moment, axial force, and radial force to the loading system, and the loading system readjusts the output of multiple actuators according to the received measurement data; repeat the above steps to achieve high-precision six-degree-of-freedom loading control.
[0050] As an example, if the first radial force F is measured y If the first radial force F is smaller than the target axial force, the ninth hydraulic cylinder 19 and the tenth hydraulic cylinder 20 can be adjusted to increase the forces applied by the two hydraulic cylinders in opposite directions. yThe absolute value of the difference from the target axial force may be proportional to the difference in force applied by the two hydraulic cylinders in opposite directions. Similarly, the relationship between the difference between other loads and the target load and the output of the corresponding cylinder may be predetermined. When re-adjusting the output of each hydraulic cylinder, the relationship between the output of the cylinder and the difference between the measured load and the target load may be predetermined by experiment.
[0051] The loading system 2 can be further configured to calculate the output of multiple actuators based on at least one of the bending moment, axial force and radial force measured by the measurement system and a predetermined transfer matrix, wherein the number of rows of the transfer matrix is the number of multiple actuators, and the number of columns of the transfer matrix is the number of at least one of the bending moment, axial force and radial force.
[0052] As an example, assume that the loads applied to the loading axis (five loads are F x 、F y 、F z 、M y and M z ) is a 5×1 matrix, and the output of the hydraulic cylinder is a 12×1 matrix, so the transfer function can be a 12×5 transfer matrix mat. In other words, the output of the hydraulic cylinder can be calculated by the following formula (1) (the output of the twelve cylinders is F v1 、F v2 、F v3 、F v4 、F v5 、F v6 、F v7 、F v8 、F v9 、F v10 、F v11 、F v12 ).
[0053]
[0054] The transfer matrix affects the loading accuracy of the entire loading test platform. The transfer matrix Mat can be predetermined by the following methods: measuring the output of each actuator by a force sensor installed on each actuator and measuring the corresponding bending moment, corresponding axial force and corresponding radial force on the test component by a measurement system; adjusting the output of multiple actuators, measuring the output of each actuator accordingly by a force sensor and measuring the corresponding bending moment, corresponding axial force and corresponding radial force on the test component by a measurement system, repeating the steps of adjusting the output, measuring the output and measuring the corresponding bending moment, corresponding axial force and corresponding radial force, and determining the transfer matrix based on the measured multiple outputs and the corresponding multiple bending moments, multiple axial forces and multiple radial forces. The more the measured output and load data, the more accurate the transfer matrix can be obtained. The transfer matrix can be determined by relevant algorithms such as machine learning, or by numerical calculation. In addition, when determining the transfer matrix, the load output by the loading system can also be measured, and the transfer matrix can be determined based on the cylinder output and the load output by the loading system.
[0055] As an example, the loading system may measure the output of each cylinder, calculate the load using the output of each cylinder and a predetermined transfer matrix, perform PID control on the difference between the load and the target load, and thereby adjust the output of each cylinder so that the calculated load becomes the target load.
[0056] However, in the actual operation process, the mechanical structure of the loading system may be deformed, deflected in spatial posture, and suffer from internal load loss, which will cause the load actually transferred to the test component to differ from the output load of the loading system. In addition, when the cylinder output is the same, the load actually transferred to the test component may be different, so the above control method will affect the control accuracy. Therefore, a six-degree-of-freedom force sensor can be installed at the front end of the test component, which can be fed back to the loading system as a feedback signal to achieve high-precision loading through PID control. Figure 5 This is described in detail. Figure 5 The loading system 2 can be configured to calculate the output of multiple actuators based on the target load (target bending moment, target axial force and / or target radial force). The loading system can perform PID control based on the feedback measured load with the corresponding target load as a reference value, and adjust the output of multiple actuators, thereby changing the load transmitted to the test component by the loading system to the target load (target value).
[0057] When dynamically loading the load, if the target load changes, the loading system 2 can be configured to recalculate the output of multiple actuators based on the target load. The loading system 2 can control the output of the hydraulic cylinder to the recalculated output. During the control process, PID control can also be used, with the force sensor installed on the hydraulic cylinder feeding back the cylinder output, and using the recalculated output as a reference value to perform corresponding PID control.
[0058] In order to increase the response speed of the loading test platform, the measurement data of the force sensor can be sent to the control system in real time through the reflective memory. The control system can control the drag system to adjust the measured torque to the target torque (specifically, the output of the drag system can be adjusted), and the loading system can control the output of the hydraulic cylinder to adjust the measured bending moment, axial force and / or radial force to the target value (i.e., target bending moment, target axial force and / or target radial force).
[0059] Figure 6 is a flow chart showing a control method of a loading test platform according to an embodiment of the present disclosure, Figure 7 is a perspective view showing a calibration device according to an embodiment of the present disclosure, Figure 8 is a flow chart showing a calibration procedure apparatus according to an embodiment of the present disclosure.
[0060] The control method of the loading test platform according to the embodiment of the present disclosure may include step S610 , step S620 , and step S630 .
[0061] In step S610, the outputs of the multiple actuators are calculated according to at least one of the target bending moment, target axial force and target radial force received from the control system. Specifically, as described above, the initial outputs of the multiple actuators can be calculated based on the transfer matrix.
[0062] In step S620, the multiple actuators are controlled accordingly to apply the load according to the calculated outputs of the multiple actuators. In the process of controlling the multiple actuators, PID control may also be performed to adjust the outputs of the multiple actuators to the calculated outputs.
[0063] In step S630, the output of the plurality of actuators is adjusted according to at least one of the bending moment, axial force and radial force transmitted to the test component by the loading system measured in real time by the measurement system and the corresponding target bending moment, target axial force and / or target radial force, thereby achieving closed-loop loading control.
[0064] When dynamically loading the load, the control system can send the dynamic load to the loading system according to a certain time sequence, and the loading system performs dynamic loading. The loading system can recalculate the output of multiple actuators in response to changes in the target load, and adjust the output of multiple actuators based on the actual measured load.
[0065] The control steps S610 to S630 of the above control method may be executed by a controller in the loading system.
[0066] In order to ensure the loading accuracy, the force sensor may be calibrated periodically. The control method according to the embodiment of the present disclosure may further include a calibration step of calibrating the force sensor by a calibration device.
[0067] Reference Figure 7 The calibration device according to an embodiment of the present disclosure may include a base 71, a loading portion 73, a first group of calibration cylinders, and a second group of calibration cylinders.
[0068] The base 71 is used to fix the force sensor. The force sensor 72 is connected to the foundation through the base 71 and is located between the base 71 and the loading part 73. The loading part 73 is connected to the force sensor for transmitting the load. The first group of calibration cylinders are arranged along a third direction parallel to the loading part and arranged on the side of the loading part 73. The second group of calibration cylinders are arranged above the loading part along a fourth direction perpendicular to the third direction. Both ends of each of the first group of calibration cylinders and the second group of calibration cylinders are connected to the loading part and the external bearing member, respectively, and a force sensor is installed on each of the first group of calibration cylinders and the second group of calibration cylinders.
[0069] Reference Figure 7 , the first group of calibration cylinders includes a first calibration cylinder 75 and a second calibration cylinder 76. The second group of calibration cylinders includes a third calibration cylinder 77, a fourth calibration cylinder 78, a fifth calibration cylinder 79 and a sixth calibration cylinder 80. One end of each of the first calibration cylinder 75 and the second calibration cylinder 76 is connected (e.g., hinged) to the loading portion 73 (connected to the side of the loading portion 73), one end of each of the third calibration cylinder 77, the fourth calibration cylinder 78, the fifth calibration cylinder 79 and the sixth calibration cylinder 80 can be connected to the top of the loading portion 73, and the other end of each calibration cylinder can be connected to an external bearing member (e.g., a load-bearing wall). In addition, the calibration device may also include columns and beams for fixing the calibration cylinders to the loading portion, etc.
[0070] Reference Figure 8 According to an embodiment of the present disclosure, the calibration steps may include step S810, step S820, and step S830.
[0071] In step S810, different loads are applied by a first calibration cylinder, a second calibration cylinder, a third calibration cylinder, a fourth calibration cylinder, a fifth calibration cylinder, and a sixth calibration cylinder;
[0072] In step S820, strain signals under different loads are measured by a force sensor;
[0073] In step S830 , a transfer function between load and strain is determined according to the load and strain signals.
[0074] The step S810 of applying different loads through the first calibration cylinder, the second calibration cylinder, the third calibration cylinder, the fourth calibration cylinder, the fifth calibration cylinder, and the sixth calibration cylinder may include: applying the same force in opposite directions through the first calibration cylinder and the second calibration cylinder to apply the first load M x ; Apply the same force in the opposite direction through the third calibration cylinder and the fourth calibration cylinder to apply the second load M y ; Apply the same force in the opposite direction through the fifth and sixth calibration cylinders to apply a third load M z ; Apply the same force in the same direction through the fifth calibration cylinder and the sixth calibration cylinder to apply the fourth load F x ; Apply the same force in the same direction through the first calibration cylinder and the second calibration cylinder to apply the sixth load F z ; Rotate the load cell 90° and apply the same force in the same direction through the first calibration cylinder and the second calibration cylinder to apply the fifth load F y However, the steps of applying different loads according to the embodiment of the present disclosure are not limited thereto, and can be adaptively changed according to the number of calibration cylinders, etc. In addition, the installation method of the calibration cylinder is not limited to Figure 7 Installation method.
[0075] The control method according to the embodiment of the present disclosure can be executed by a processor and can be written as a corresponding computer program or code. Figures 1 to 8 Control methods, systems, etc. according to embodiments of the present disclosure are described. However, it should be understood that the devices and systems shown in the accompanying drawings may be configured as software, hardware, firmware, or any combination of the above items to perform specific functions. For example, these systems and devices may correspond to dedicated integrated circuits, pure software codes, or modules that combine software and hardware. In addition, one or more functions implemented by these systems or devices may also be uniformly performed by components in physical entity devices (e.g., processors, clients, or servers, etc.).
[0076] The instructions stored in the computer-readable storage medium can be executed in an environment deployed in a computer device such as a client, a host, an agent device, a server, etc. It should be noted that the instructions can also be used to perform additional steps in addition to the above steps or perform more specific processing when performing the above steps. The contents of these additional steps and further processing have been described in reference to Figures 1 to 8 It is mentioned in the description of related systems and methods, so it will not be repeated here to avoid repetition.
[0077] It should be noted that the control method and control device according to the embodiments of the present disclosure can completely rely on the operation of computer programs or instructions to realize the corresponding functions, that is, each device corresponds to each step in the functional architecture of the computer program, so that the entire system is called through a special software package (for example, lib library) to realize the corresponding function.
[0078] On the other hand, when the device or system is implemented in software, firmware, middleware or microcode, the program code or code segment for performing the corresponding operation can be stored in a computer-readable medium such as a storage medium, so that at least one processor or at least one computing device can perform the corresponding operation by reading and running the corresponding program code or code segment. In addition, the computer-readable medium or storage medium can cause the processor to execute the above-mentioned control method when the computer program is executed by the processor.
[0079] For example, according to an exemplary embodiment of the present disclosure, a computer device including a readable medium storing computer program instructions may be provided, wherein when the instructions are executed by at least one computing device, the at least one computing device is prompted to perform at least one of the above steps.
[0080] According to an embodiment of the present disclosure, a control device for a loading test platform or a loading system is provided. The control device may include a processor and a computer-readable storage medium. The computer-readable storage medium stores a program or instruction. When the program or instruction is executed by the processor, the above-mentioned control method is executed.
[0081] The loading test platform according to the embodiment of the present disclosure can achieve precise loading control.
[0082] The loading test platform according to the embodiment of the present disclosure can accurately measure the bending moment, torque, axial force and radial force applied by the loading system to the test component.
[0083] According to the embodiment of the present disclosure, the loading test platform transmits the measured bending moment, torque, axial force, radial force and other parameters to the control system in real time. The control system forms a closed loop with the controller loading control based on the measured data, thereby improving the control accuracy.
Claims
1. A loading test platform, characterized in that: The loading test platform comprises: a loading system including a plurality of actuators for simulating at least one of a bending moment, an axial force, and a radial force on a test component; A measuring system, comprising a force sensor for measuring in real time at least one of the bending moment, axial force and radial force transmitted by the loading system to the test component; a control system, sending a target bending moment, a target axial force and / or a target radial force to the loading system, In which, the loading system is configured to calculate the output of the multiple actuators based on the target bending moment, the target axial force and / or the target radial force, and adjust the output of the multiple actuators based on at least one of the bending moment, axial force and radial force measured in real time by the measurement system and the corresponding target bending moment, target axial force and / or target radial force.
2. The loading test platform according to claim 1, characterized in that: The loading system is further configured to calculate the output of the multiple actuators based on the at least one of the bending moment, axial force and radial force measured in real time by the measurement system and a predetermined transfer matrix, wherein the number of rows of the transfer matrix is the number of the multiple actuators, and the number of columns of the transfer matrix is the number of the at least one of the bending moment, axial force and radial force.
3. The loading test platform according to claim 2, characterized in that: The transfer matrix is predetermined as follows: The output force of each actuator is measured by a force sensor installed on each actuator, and the corresponding bending moment, corresponding axial force and corresponding radial force on the test component are measured by a measuring system; Adjust the output of multiple actuators, measure the output of each actuator accordingly through a force sensor and measure the corresponding bending moment, corresponding axial force and corresponding radial force on the test component accordingly through a measuring system, The steps of adjusting the output force, measuring the output force, and measuring the corresponding bending moment, the corresponding axial force, and the corresponding radial force are repeatedly performed, and the transfer matrix is determined according to the measured multiple output forces and the corresponding multiple bending moments, multiple axial forces, and multiple radial forces.
4. The loading test platform according to claim 1, characterized in that: The loading system is configured to perform PID control on the multiple actuators with the target bending moment, target axial force or target radial force as reference values, so that at least one of the bending moment, axial force and radial force transmitted to the test component by the loading system measured in real time becomes the corresponding target value.
5. The loading test platform according to any one of claims 1 to 4, characterized in that: The loading test platform also includes a drag system, which is connected to the test component and simulates the torque on the test component. The control system is further configured to adjust the output of the drag system in response to the absolute value of the difference between the torque measured by the measurement system and the target torque being outside a preset range so that the absolute value of the difference is within the preset range.
6. The loading test platform according to claim 5, characterized in that: The tested component is a transmission system of a wind turbine generator set, the loading system is a five-degree-of-freedom loading system, and the torque includes torque M x , the bending moment includes the first bending moment M y and the second bending moment M z , the radial force includes a first radial force F y and the second radial force F z .
7. The loading test platform according to claim 6, characterized in that: The plurality of actuators include a plurality of hydraulic cylinders, the loading system further includes a loading arm and a base, both ends of each of the plurality of hydraulic cylinders are connected to the loading arm and the base respectively, a first group of hydraulic cylinders among the plurality of hydraulic cylinders is arranged along a first direction perpendicular to the loading arm for simulating the axial force, the first bending moment M y and the second bending moment M z A second group of hydraulic cylinders in the plurality of hydraulic cylinders is arranged along a second direction perpendicular to the first direction to simulate the first radial force F y and the second radial force F z The first group of hydraulic cylinders are arranged in pairs on both sides of the loading arm, and the second group of hydraulic cylinders are arranged in pairs on both sides of the loading axis of the loading test platform.
8. The loading test platform according to claim 1, characterized in that: The measuring system sends the measuring data of the force sensor to the control system in real time through the reflective memory.
9. A control method for a loading test platform, characterized in that: The control method utilizes the loading test platform according to any one of claims 1 to 8, and the control method comprises: calculating the output force of the plurality of actuators based on at least one of a target bending moment, a target axial force, and a target radial force received from a control system; controlling the plurality of actuators accordingly to apply the load according to the calculated outputs of the plurality of actuators; The output of multiple actuators is adjusted according to at least one of the bending moment, axial force and radial force transmitted to the test component by the loading system measured in real time by the measurement system and the corresponding target bending moment, target axial force and / or target radial force.
10. The control method of the loading test platform according to claim 9, characterized in that: The control method further comprises a calibration step of calibrating the force sensor by a calibration device, wherein the calibration device comprises: A base and a loading part, wherein the base is used to fix the force sensor, and the force sensor is located between the base and the loading part; A first group of calibration cylinders are respectively arranged along a third direction parallel to the loading portion and arranged at a side of the loading portion; A second group of calibration cylinders are arranged above the loading portion along a fourth direction perpendicular to the third direction; Wherein, both ends of each of the first group of calibration cylinders and the second group of calibration cylinders are respectively connected to the loading part and the external bearing member, and a force sensor is installed on each of the first group of calibration cylinders and the second group of calibration cylinders.
11. The control method of the loading test platform according to claim 10, characterized in that: The first group of calibration cylinders includes a first calibration cylinder and a second calibration cylinder, the second group of calibration cylinders includes a third calibration cylinder, a fourth calibration cylinder, a fifth calibration cylinder and a sixth calibration cylinder, and the calibration step includes: Apply different loads through the first calibration cylinder, the second calibration cylinder, the third calibration cylinder, the fourth calibration cylinder, the fifth calibration cylinder, and the sixth calibration cylinder; Measuring strain signals under different loads by the force sensor; A transfer function between load and strain is determined based on the load and strain signals.
12. The control method of the loading test platform according to claim 11, characterized in that: The step of applying different loads through the first calibration cylinder, the second calibration cylinder, the third calibration cylinder, the fourth calibration cylinder, the fifth calibration cylinder, and the sixth calibration cylinder comprises: The first calibrated oil cylinder and the second calibrated oil cylinder apply forces of the same magnitude in opposite directions to apply a first load M x ; The third calibrated oil cylinder and the fourth calibrated oil cylinder apply forces of the same magnitude in opposite directions to apply a second load M y ; The fifth calibrated oil cylinder and the sixth calibrated oil cylinder apply forces of the same magnitude in opposite directions to apply a third load M z ; The fifth calibrated oil cylinder and the sixth calibrated oil cylinder apply the same force in the same direction to apply the fourth load F x ; The first calibration cylinder and the second calibration cylinder apply forces of the same magnitude in the same direction to apply a sixth load F z ; The load cell is rotated 90° and the first calibration cylinder and the second calibration cylinder apply the same force in the same direction to apply the fifth load F y .