Dynamic loading test control device and control method

Abstract

The application discloses a dynamic loading test control device and a control method. The dynamic loading test control device comprises a follow-up frame device, a follow-up loading device and a control device. The follow-up frame device is movably arranged in a horizontal direction. The follow-up loading device comprises follow-up lifting assemblies and loading capsule assemblies with adjustable loading pressure. At least two follow-up lifting assemblies are sequentially arranged on the follow-up frame device in the same direction. At least two loading capsule assemblies are respectively and correspondingly arranged on driving ends of the at least two follow-up lifting assemblies, and the at least two follow-up lifting assemblies can respectively drive the corresponding loading capsule assemblies to lift. The control device controls the follow-up frame device, the follow-up lifting assemblies and the loading capsule assemblies respectively, so that the loading capsule assemblies dynamically follow and load a test structure, the load applied in the test is equivalent to an actual working condition, and the reliability of test results is improved.

Description

Technical Field

[0001] This invention belongs to the field of loading test technology, and in particular relates to a dynamic loading test control device and control method. Background Technology

[0002] Construction machinery (especially booms) must withstand harsh natural environments (such as typhoons, extreme temperatures, and earthquakes) in actual use to ensure their structural safety and reliability. Therefore, simulating the service performance of construction machinery under real-world conditions as much as possible is crucial for product design verification and performance optimization.

[0003] Currently, hydraulic cylinder loading is mainly used to simulate various loads, but it is difficult to achieve dynamic loading and motion tracking, resulting in a large deviation between the test results and the actual working conditions. Summary of the Invention

[0004] To address the aforementioned deficiencies or shortcomings, this invention provides a dynamic loading test control device and method, aiming to solve the technical problem that the test results deviate significantly from the actual working conditions due to the use of hydraulic cylinders to load simulated loads.

[0005] To achieve the above objectives, the first aspect of the present invention provides a dynamic loading test control device, wherein the dynamic loading test control device includes a follower frame device, a follower loading device, and a control device; the follower frame device is movable in the horizontal direction; the follower loading device includes a follower lifting component and a loading capsule component with adjustable loading pressure, the number of both the follower lifting component and the loading capsule component is at least two, the at least two follower lifting components are sequentially arranged on the follower frame device in the same direction, the at least two loading capsule components are respectively arranged one-to-one at the drive end of the at least two follower lifting components, and the at least two follower lifting components can respectively drive the corresponding loading capsule component to lift or lower; the control device is signal-connected to the follower frame device, the follower lifting component, and the loading capsule component and is configured to:

[0006] The follow-up frame device, the follow-up lifting component, and the loading capsule component are controlled separately so that the loading capsule component can dynamically follow the loading of the test structure.

[0007] In one embodiment of the present invention, the loading capsule assembly includes an abutment frame and a loading capsule body disposed on the abutment frame and with adjustable loading pressure. The side of the loading capsule body opposite to the abutment frame can dynamically follow the loading of the test structure. The side of the abutment frame opposite to the loading capsule body is laterally abutted against the follower frame device. The abutment frames of any two adjacent loading capsule assemblies are connected by a universal connector. The drive end of the follower lifting assembly is connected to the corresponding abutment frame.

[0008] In one embodiment of the present invention, the abutment frame includes a mounting base, a connecting rod, and an abutment base. The mounting base and the abutment base are respectively disposed at both ends of the connecting rod. The mounting base is provided with a loading bladder body on the side away from the connecting rod. The mounting bases of two adjacent loading bladder assemblies are connected by a universal connector. The side of the abutment base away from the connecting rod abuts against the follower frame device. The abutment bases of two adjacent loading bladder assemblies are connected by a first hinge.

[0009] In one embodiment of the present invention, the follow-up lifting assembly includes a first lifting drive module and a second lifting drive module disposed on the follow-up frame device. The drive end of the first lifting drive module is connected to the mounting base, and the drive end of the second lifting drive module is connected to the abutment base.

[0010] In one embodiment of the present invention, the connecting rod is configured as an elastic shock absorber.

[0011] In one embodiment of the present invention, a rolling abutment is provided on the side of the abutment base away from the connecting rod. The rolling abutment is rotatably configured and used to laterally abut against the follower frame device.

[0012] In one embodiment of the present invention, the loading capsule assembly further includes a bonding plate, which is disposed on the side of the loading capsule body away from the abutment frame and is used to bond with the test structure. The bonding plate includes a plurality of bonding sheet units, which are arranged in multiple rows and columns, and any two adjacent bonding sheet units are connected by a second hinge.

[0013] In one embodiment of the present invention, the bottom of the follower frame device is provided with multiple walking wheel modules, and each of the multiple walking wheel modules can be independently configured to change speed and independently turn.

[0014] In one embodiment of the present invention, the follower frame device is provided with a horizontal fine-tuning mechanism, and at least two follower lifting components are provided on the follower frame device through the horizontal fine-tuning mechanism. The horizontal fine-tuning mechanism can drive at least two follower lifting components to perform position fine-tuning in the horizontal direction.

[0015] In one embodiment of the present invention, the loading medium for the loading capsule assembly is a gas.

[0016] In one embodiment of the present invention, the dynamic loading test control device further includes a detection device connected to the control device. The detection device includes a force sensor, a pressure sensor, a displacement sensor, and an angle sensor. The force sensor is used to detect the loading pressure applied to the test structure by each loading bladder assembly. The pressure sensor is used to detect the bladder pressure of each loading bladder assembly. The displacement sensor is used to detect the horizontal displacement of the follower frame device and the height at which each follower lifting assembly drives the corresponding loading bladder assembly to rise or fall. The angle sensor is used to detect the turning angle of the follower frame device.

[0017] To achieve the above objectives, a second aspect of the present invention provides a dynamic loading test control method, wherein the dynamic loading test control method is applied to the dynamic loading test control equipment described above, and the dynamic loading test control method includes:

[0018] Based on a stable loading regression strategy, the follow-up frame device, the follow-up lifting component, and the loading capsule component are controlled respectively.

[0019] In one embodiment of the present invention, based on a regression strategy for load stability, the control of the follow-up frame device, the follow-up lifting component, and the loading capsule component includes:

[0020] Determine the ideal trajectory and ideal loading pressure of the loading capsule component;

[0021] The dynamic loading test control equipment is controlled according to the ideal running trajectory and ideal loading pressure, so that the loading capsule assembly dynamically follows the loading of the test structure and the actual running trajectory and actual loading pressure of the loading capsule assembly are detected.

[0022] If a deviation is detected between the actual running trajectory and the ideal running trajectory, the follower frame device and / or follower lifting component are controlled to bring the actual running trajectory back to the ideal running trajectory.

[0023] If a deviation between the actual loading pressure and the ideal loading pressure is detected, the loading capsule assembly is controlled to ensure that the actual loading pressure equals the ideal loading pressure.

[0024] In one embodiment of the present invention, determining the ideal operating trajectory and ideal loading pressure of the loading capsule assembly includes:

[0025] The test model parameters are determined based on the original system of the test structure. These parameters include structural parameters, motion parameters, and time-domain curves of the applied load.

[0026] Operating condition simulations are performed based on the test model parameters to obtain the test operating parameters of the original machine system;

[0027] The ideal operating trajectory and ideal loading pressure of the loading capsule assembly are determined based on the test operation parameters of the original system.

[0028] In one embodiment of the present invention, the motion parameters in the test model parameters include slewing plane operation parameters, variable amplitude plane operation parameters, and ground vibration waves; and / or, the time-domain curves of the loaded loads in the test model parameters include the time-domain curves of the lateral loads and the time-domain curves of the suspended gravity.

[0029] Through the above technical solution, the dynamic loading test control device provided by the present invention has the following beneficial effects:

[0030] When the test structure, especially the test boom, uses the aforementioned dynamic loading test control equipment, which includes a follower frame device, a follower loading device, and a control device, when the test structure rotates in the plane of rotation, the follower frame device can be controlled to move horizontally so that at least two loading bladder assemblies in the follower loading device follow the test structure. When the test structure changes amplitude in the amplitude-changing plane, at least two follower lifting assemblies in the follower loading device can be controlled to drive the corresponding loading bladder assemblies to rise and fall, so that at least two loading bladder assemblies follow the test structure. While the loading bladder assemblies are following, the loading pressure of the loading bladder assemblies can be adjusted, so that the loading bladder assemblies can dynamically load the test structure whether following in the plane of rotation or the amplitude-changing plane. This makes the load applied in the test equivalent to the actual working conditions, thereby improving the reliability of the test results.

[0031] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0032] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. Those skilled in the art can obtain other drawings based on the structures shown in these drawings without any inventive effort. In the drawings:

[0033] Figure 1 This is a schematic diagram of the structure of a dynamic loading test control device according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of the loading capsule assembly according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the structure of the mounting base according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the connecting rod and the abutting base according to an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the structure of a horizontal fine-tuning mechanism according to an embodiment of the present invention;

[0038] Figure 6 This is a partial structural schematic diagram of the bonding plate according to an embodiment of the present invention.

[0039] Explanation of reference numerals in the attached figures:

[0040] 100 Follower frame device 110 Connecting frame

[0041] 120 outriggers and 130 walking wheel module

[0042] 140 Abutting the side panel

[0043] 200 Follow-up lifting assembly 210 First lifting drive module

[0044] 220 Second Lifting Drive Module

[0045] 300 Loading capsule assembly 310 Abutment frame

[0046] 311 Mounting base 312 Connecting rod

[0047] 313 Abutment base; 314 Universal connector

[0048] 315 First hinge member rolling contact member

[0049] 320 Loading the capsule body 330 Fitting the plate body

[0050] 331 Adhesive piece unit; 332 Second hinge component

[0051] 400 Horizontal fine-tuning mechanism; 410 Slide rail

[0052] 420 Sliding Plate Detailed Implementation

[0053] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0054] The dynamic loading test control device and control method of the present invention are described below with reference to the accompanying drawings.

[0055] like Figure 1 As shown, the present invention provides a dynamic loading test control device, wherein the dynamic loading test control device includes:

[0056] The follower frame device 100 can be moved and installed in the horizontal direction;

[0057] The follow-up loading device includes a follow-up lifting component 200 and a loading bladder component 300 with adjustable loading pressure. There are at least two follow-up lifting components 200 and at least two loading bladder components 300. The at least two follow-up lifting components 200 are sequentially arranged on the follow-up frame device 100 in the same direction. The at least two loading bladder components 300 are respectively arranged one-to-one at the drive end of the at least two follow-up lifting components 200, and the at least two follow-up lifting components 200 can drive the corresponding loading bladder components 300 to lift and lower.

[0058] The control device is connected to the follower frame device 100, the follower lifting component 200 and the loading capsule component 300 by signal and is configured to control the follower frame device 100, the follower lifting component 200 and the loading capsule component 300 respectively, so that the loading capsule component 300 dynamically follows and loads the test structure.

[0059] When the test structure, especially the test boom, uses the aforementioned dynamic loading test control equipment, since it includes a follower frame device 100, a follower loading device, and a control device, when the test structure rotates in the plane of rotation, the follower frame device 100 can be controlled to move horizontally, so that at least two loading bladder assemblies 300 in the follower loading device follow the test structure respectively. When the test structure changes amplitude in the amplitude-changing plane, at least two follower lifting assemblies 200 in the follower loading device can be controlled to drive the corresponding loading bladder assemblies 300 to rise and fall, so that at least two loading bladder assemblies 300 follow the test structure respectively. While the loading bladder assemblies 300 are following, since the loading pressure of the loading bladder assemblies 300 can be adjusted, the loading bladder assemblies 300 can also dynamically load the test structure whether following in the plane of rotation or the amplitude-changing plane. This makes the load applied in the test equivalent to the actual working conditions, thereby improving the reliability of the test results.

[0060] It should be noted that the dynamic loading test control equipment provided by this invention is particularly suitable for testing the service capability of booms, but is not limited to testing booms. If other test structural components are tested using the dynamic loading test control equipment provided by this invention, they should also fall within the protection scope of this invention. Furthermore, the dynamic loading test control equipment provided by this invention is particularly suitable for conducting lateral loading tests on test structural components, i.e., at least two loading bladder assemblies 300 are located on the left or right side of the test structural component and can be sequentially arranged along the length of the test structural component.

[0061] See Figures 1 to 3 In one embodiment of the present invention, the loading capsule assembly 300 includes an abutment frame 310 and a loading capsule body 320 disposed on the abutment frame 310 and with adjustable loading pressure. The side of the loading capsule body 320 opposite to the abutment frame 310 can dynamically follow the loading of the test structure, that is, the side of the loading capsule body 320 opposite to the abutment frame 310 can be attached to the test structure to facilitate following loading. The side of the abutment frame 310 opposite to the loading capsule body 320 is laterally abutted against the follower frame device 100. The abutment frames 310 of any two adjacent loading capsule assemblies 300 are connected by a universal connector 314. The drive end of the follower lifting assembly 200 is connected to the corresponding abutment frame 310. By adding the abutment frame 310, the loading bladder body 320 always has the abutment effect of the follower frame device 100 on the side away from the test structure, thereby making the lateral loading of the loading bladder body 320 on the test structure more stable. The addition of a universal connector 314 between two adjacent abutment frames 310 can establish the connection between multiple loading bladder components 300, ensuring the overall reliability of the entire follower loading device. On the other hand, it can also generate relative rotation in two directions between two adjacent abutment frames 310, ensuring the following motion. Specifically, when the test structure rotates, the follower frame device 100 is controlled to rotate accordingly. Due to the abutting action of the abutting frame 310 on the follower frame device 100, each loading bladder body 320 can rotate relative to the adjacent abutting frame 310 in the direction of rotation while following the test structure. When the test structure undergoes amplification, each follower lifting component 200 is controlled to drive the corresponding abutting frame 310 to lift the loading bladder body 320, so that each loading bladder body 320 can rotate relative to the adjacent abutting frame 310 in the direction of amplification while following the test structure.

[0062] Specifically, the loading bladder body 320 can be made of a bladder material, such as rubber or fabric. Furthermore, the loading bladder body 320 has a cavity for filling with loading medium. Each loading bladder body 320 is equipped with a different medium filling / draining device, which controls the filling or draining of the loading medium within the bladder cavity to adjust the loading pressure of the equipment.

[0063] See Figures 1 to 4In one embodiment of the present invention, the abutment frame 310 includes a mounting base 311, a connecting rod 312, and an abutment base 313. The mounting base 311 and the abutment base 313 are respectively disposed at both ends of the connecting rod 312. The mounting base 311 is provided with a loading bladder body 320 on the side away from the connecting rod 312. The mounting bases 311 of two adjacent loading bladder assemblies 300 are connected by a universal connector 314. The abutment base 313 is laterally abutted against the follower frame device 100 on the side away from the connecting rod 312. The abutment bases 313 of two adjacent loading bladder assemblies 300 are connected by a first hinge member 315. By configuring the abutment frame 310 as described above, at least two loading bladder assemblies 300 can be connected at both ends—one for contacting the test structure and the other for abutting against the follower frame device 100—facilitating subsequent equipment assembly. Furthermore, the universal connector 314 allows adjacent mounting bases 311 to rotate relative to each other in both the rotation and amplitude-changing directions, and the first hinge 315 allows adjacent abutment bases 313 to rotate relative to each other in the amplitude-changing direction. Specifically, the first hinge 315 can be a suitable hinge such as a dual-axis hinge or a ball hinge.

[0064] In one embodiment of the present invention, the follow-up lifting assembly 200 includes a first lifting drive module 210 and a second lifting drive module 220 disposed on the follow-up frame device 100. The drive end of the first lifting drive module 210 is connected to the mounting base 311, and the drive end of the second lifting drive module 220 is connected to the abutment base 313. That is, both the mounting base 311 and the abutment base 313 are provided with independent lifting drive modules to ensure the reliability of the amplitude change direction adjustment.

[0065] Specifically, the first lifting drive module 210 and the second lifting drive module 220 include, but are not limited to, one of a lifting cylinder, a rope lifting module, or a chain lifting module. Both the rope lifting module and the chain lifting module can be driven by a motor.

[0066] In one embodiment of the present invention, the connecting rod 312 may be configured as an elastic damping rod, so that the elastic force of the elastic damping rod can be pre-adjusted according to the magnitude of the lateral load, thereby eliminating the load fluctuation caused by the lag in the dynamic loading test control equipment due to the switching of the rotation direction of the test structure during rotation loading. Specifically, the elastic damping rod includes, but is not limited to, a coil spring damper.

[0067] In one embodiment of the present invention, a rolling abutment is provided on the side of the abutment base 313 away from the connecting rod 312. The rolling abutment is rotatably disposed and used to laterally abut against the follower frame device 100. That is, the abutment base 313 can roll on the follower frame device 100 to achieve the purpose of rapid switching response of loading direction. Specifically, the rolling abutment is not limited to a ball or a roller. When the rolling abutment is a ball, a mounting cavity for rotatably accommodating the ball can be formed on the side of the abutment base 313 away from the connecting rod 312. The number of rolling abutments on each abutment base 313 can be set to several.

[0068] See Figure 2 and Figure 6 In one embodiment of the present invention, the loading capsule assembly 300 further includes a bonding plate 330. The bonding plate 330 is disposed on the side of the loading capsule body 320 opposite to the abutment frame 310 and is used to bond with the test structure. The bonding plate 330 includes a plurality of bonding sheet units 331, which are arranged in multiple rows and columns, and any two adjacent bonding sheet units 331 are connected by a second hinge member 332. Specifically, although the loading capsule body 320 can be made into a square quadrangular prism shape, its forming requires filling the capsule cavity with a loading medium. The loading medium has fluidity, which makes the loading capsule body 320 prone to deformation. By adding the bonding plate 330, not only can the bonding degree between the loading capsule assembly 300 and the loading surface of the test structure be improved, but the deformation of the loading capsule body 320 can also be better accommodated. More specifically, the second hinge member 332 can be a suitable hinge member such as a biaxial hinge or a spherical hinge.

[0069] Please see again Figure 1 In one embodiment of the present invention, the bottom of the follower frame device 100 is provided with multiple traveling wheel modules 130, each of which can be independently configured for speed change and independent steering, thereby enabling the dynamic loading test control equipment to better follow when the test structure is in a rotational state. Specifically, the follower frame device 100 includes a connecting frame 110 and four support legs 120 respectively disposed at the four corners of the connecting frame 110. Each of the four support legs 120 is provided with a corresponding traveling wheel module 130. The follower frame device 100 also includes an abutment side plate 140, which is disposed on two support legs 120 disposed on the same side and can be used for lateral abutment against the abutment frame 310.

[0070] See Figure 1 and Figure 5In one embodiment of the present invention, the follower frame device 100 is provided with a horizontal fine-tuning mechanism 400, and at least two follower lifting components 200 are mounted on the follower frame device 100 via the horizontal fine-tuning mechanism 400. The horizontal fine-tuning mechanism 400 can drive at least two follower lifting components 200 to perform position fine-tuning in the horizontal direction. The addition of the horizontal fine-tuning mechanism 400 allows for fine-tuning of the follower lifting components 200 and the loading capsule component 300 mounted on the follower lifting components 200 when the rotational following deviation is small, thereby improving the loading accuracy.

[0071] Specifically, the horizontal fine-tuning mechanism 400 includes a fine-tuning drive, a slide rail 410, and a sliding plate 420 slidably mounted on the slide rail 410. The slide rail 410 is located on the connecting frame 110 of the follower frame device 100 and extends along the arrangement direction perpendicular to the arrangement direction of at least two loading bladder assemblies 300. The sliding plate 420 extends along the arrangement direction parallel to the arrangement direction of at least two loading bladder assemblies 300. The follower lifting assembly 200 is arranged sequentially along the length direction of the sliding plate 420. The fine-tuning drive is used to drive the sliding plate 420 to move on the slide rail 410. More specifically, there are two sliding plates 420, which are spaced apart on the slide rails 410. The two sliding plates 420 can be equipped with a first lifting drive module 210 and a second lifting drive module 220 arranged in parallel. There are also two slide rails 410, which are spaced apart on the connecting frame 110. Each sliding plate 420 can be slidably mounted on the two slide rails 410.

[0072] In one embodiment of the present invention, the loading medium of the loading capsule assembly 300 is a gas. Of course, the present invention is not limited to this; a liquid loading medium is also possible, but gas is more effective for loading pressure regulation than liquid.

[0073] In one embodiment of the present invention, the dynamic loading test control equipment further includes a detection device connected to the control device. The detection device includes a force sensor, a pressure sensor, a displacement sensor, and an angle sensor. The force sensor is used to detect the loading pressure applied to the test structure by each loading capsule assembly 300, and the pressure sensor is used to detect the capsule pressure of each loading capsule assembly 300. Having either the force sensor or the pressure sensor is acceptable. A conversion relationship can be established between the loading pressure and the capsule pressure. Having both allows for verification of the control through both, thereby improving control accuracy. The displacement sensor is used to detect the horizontal displacement of the follower frame device 100 and the height at which each follower lifting assembly 200 drives the corresponding loading capsule assembly 300 to rise or fall. If a horizontal fine-tuning mechanism 400 is added, a displacement sensor can also be provided to detect the displacement of the follower lifting assembly 200 driven by the horizontal fine-tuning mechanism 400 for horizontal fine-tuning. Angle sensors are used to detect the steering angle of the follower frame device 100. Specifically, each traveling wheel module 130 of the follower frame device 100 is equipped with an angle sensor. In addition, angle sensors are also provided to detect the angle of the test structure in the rotation plane and the amplitude plane.

[0074] More specifically, the detection device also includes a speed sensor and a vision module. The speed sensor is used to detect the moving speed of the follower frame device 100, the moving speed of the loading capsule assembly 300 driven by each follower lifting component 200, the moving speed of the follower lifting component 200 driven by the horizontal fine-tuning mechanism 400, and the moving speed of the test structure in the rotation plane and the amplitude-changing plane. The vision module is used to capture images of the dynamic loading test control equipment and the test system including the test structure, so as to display and / or verify the attitude based on the captured images. At the same time, the control device includes a computing unit and an execution unit. Each detection device transmits the detection results to the computing unit. The computing unit performs comprehensive calculations and motion decoupling based on the detection results, and forms instructions from the calculation results to transmit to the execution unit. The execution unit parses the issued instructions and sends them to each drive of the dynamic loading test control equipment in the form of operating parameters for follow-up control.

[0075] Furthermore, the present invention also provides a dynamic loading test control method, wherein the dynamic loading test control method is applied to the dynamic loading test control equipment described above, and the dynamic loading test control method includes:

[0076] Based on a stable loading regression strategy, the follower frame device 100, the follower lifting component 200, and the loading capsule component 300 are controlled respectively.

[0077] Specifically, by controlling the various drives and loading pressures of the dynamic loading test control equipment based on a loading stability regression strategy, the equipment can maintain a predetermined trajectory and loading pressure during operation and can self-correct even under disturbances, thereby improving the motion accuracy and stability of the equipment.

[0078] In one embodiment of the present invention, based on a regression strategy for stable loading, controlling the follower frame device 100, the follower lifting assembly 200, and the loading capsule assembly 300 respectively includes:

[0079] S1. Trajectory and Loading Pressure Planning: Determine the ideal operating trajectory and ideal loading pressure of the loading capsule assembly 300.

[0080] Specifically, the ideal trajectory and ideal loading pressure of the loading capsule body 320 in the loading capsule assembly 300 can be determined through finite element analysis or other suitable calculation methods.

[0081] S2. Real-time monitoring: The dynamic loading test control equipment is controlled according to the ideal running trajectory and ideal loading pressure, so that the loading capsule assembly 300 dynamically follows the loading of the test structure, and the actual running trajectory and actual loading pressure of the loading capsule assembly 300 are detected.

[0082] Specifically, the ideal running trajectory can be transformed into control formulas for each drive, so as to control each drive. During the test, each sensor in the detection device can be detected to determine the actual running trajectory and the actual loading pressure.

[0083] S3. Deviation Judgment and Control:

[0084] If a deviation is detected between the actual running trajectory and the ideal running trajectory, the follower frame device 100 and / or the follower lifting component 200 are controlled to bring the actual running trajectory back to the ideal running trajectory. If there is no deviation, the dynamic loading test control equipment is controlled to continue to run according to the ideal running trajectory.

[0085] If a deviation is detected between the actual loading pressure and the ideal loading pressure, the loading capsule assembly 300 is controlled to make the actual loading pressure equal to the ideal loading pressure. If there is no deviation, the loading capsule assembly 300 is controlled to continue loading according to the ideal loading pressure.

[0086] Specifically, if a deviation between the actual running trajectory and the ideal running trajectory is detected under slewing conditions, and the deviation is less than 5%, the horizontal fine-tuning mechanism 400 is controlled to make adjustments; if the deviation is greater than 5%, the follower frame device 100 is controlled to make adjustments.

[0087] In one embodiment of the present invention, S1: determining the ideal operating trajectory and ideal loading pressure of the loading capsule assembly 300 includes:

[0088] S11. Determine the test model parameters based on the original system of the test structure. The test model parameters include structural parameters, motion parameters, and time-domain curves of the applied load.

[0089] Specifically, relevant data of the original system of the test structure under test conditions can be collected first to obtain the test model parameters. The relevant data include wind load data, boom attitude, load weight, as well as the cross-sectional dimensions, length dimensions, inertial equivalent, material properties and boundary conditions of the test structure.

[0090] S12. Perform operating condition simulation based on the test model parameters to obtain the test operation parameters of the original system.

[0091] Specifically, a finite element model of the original machine system can be established based on the test model parameters, and the simulation conditions can be determined based on the original machine operating conditions. Finite element analysis (including static and dynamic calculations) can be performed based on the load of the simulation conditions to determine the test operation parameters of the original machine system.

[0092] S13. Determine the ideal operating trajectory and ideal loading pressure of the loading capsule assembly 300 based on the test operation parameters of the original system.

[0093] Furthermore, the position where the test structure is attached to the loading capsule body 320 of the loading capsule assembly 300 is set as the loading point. The test operation parameters of the original system include the time-domain curve of the lateral load borne by the test structure at each loading point. The ideal loading pressure of the loading capsule body 320 of the loading capsule assembly 300 can be determined based on the time-domain curve of the lateral load. The test operation parameters of the original system include the test operation trajectory of the test structure. By decoupling the test operation trajectory of the test structure, the ideal operation trajectory of the loading capsule body 320 of the loading capsule assembly 300 can be obtained.

[0094] Furthermore, after obtaining the ideal running trajectory of the loading capsule body 320, it can also be transformed into the control formulas of each drive in the dynamic loading test control device.

[0095] In one embodiment, verification is performed on the slewing condition of a crane, which is subjected to lateral wind loads and seismic aftershocks. Under this condition, the method for determining the ideal operating trajectory and ideal loading pressure of the loading capsule assembly includes:

[0096] 1. Determine the test model parameters based on the original system of the test structure, including structural parameters, motion parameters, and time-domain curves of the applied load;

[0097] Specifically, the motion parameters in the test model parameters include the slewing plane operation parameters and the variable amplitude plane operation parameters; the time-domain curves of the applied loads in the test model parameters include the time-domain curves of the lateral load, the time-domain curves of the suspended gravity, the time-domain curves of the X-direction ground vibration wave, the time-domain curves of the Y-direction ground vibration wave, and the time-domain curves of the Z-direction ground vibration wave.

[0098] F 侧 =f(P 风压 ,S,t)

[0099]

[0100] H = α(r,t)

[0101] F Z =Mg

[0102] Among them, F 侧 Represented as the time-domain curve of lateral load; P 风压 S represents the pressure acting on the windward side of the test structure of the original machine system, in Pa; S represents the area of ​​the windward side of the test structure of the original machine system, in m². 2 ); t represents time, in seconds; L represents the slewing plane operating parameters; r represents the boom length, in meters; H represents the luffing plane operating parameters, F Z The time-domain curve of the load is represented by M, where M represents the load weight in kg, and g represents the gravity coefficient.

[0103] 2. Perform operating condition simulation based on the test model parameters to obtain the test operation parameters of the original system.

[0104] 3. Determine the ideal operating trajectory and ideal loading pressure of the loading capsule assembly based on the test operating parameters of the original system.

[0105] Specifically, the ideal running trajectory of the loading capsule body of the loading capsule component can be:

[0106]

[0107] In the formula, x t Represented as the time-domain coordinates of the loading point in the X-axis three-dimensional space, y t Represented as the time-domain coordinates of the loading point in the Y-axis three-dimensional space, z t Let Dx represent the time-domain coordinates of the loading point in the Z-axis three-dimensional space, Dy represent the ground vibration wave in the X-axis, Dy represent the ground vibration wave in the Y-axis, and Dz represent the ground vibration wave in the Z-axis. This can be expressed as an algebraic expression relating the slewing plane operating parameters L, the amplitude plane operating parameters H, and the X-axis ground vibration wave. The expression is represented by the algebraic formula between the slewing plane operating parameters L, the amplitude plane operating parameters H, and the Y-axis ground vibration wave. fz(α(r,t),Dz) is represented by the algebraic formula between the amplitude plane operating parameters H and the Z-axis ground vibration wave.

[0108] 4. Convert the ideal running trajectory of the loading capsule body into the control formulas for each drive:

[0109]

[0110] In the formula, VLfi t —The time-domain control function for the operating speed of the i-th lifting cylinder in the follow-up lifting component; VUnci t —The time-domain control function for the steering of the i-th traveling wheel module in the follower frame device; Vndsi t —The time-domain control function for the i-th traveling wheel module of the follower frame device; Vtgri—The time-domain control function for the i-th track drive speed of the horizontal fine-tuning mechanism; L i t represents the extension length of the i-th lifting cylinder, in meters (m); t represents time, in seconds (s).

[0111] In one embodiment of the present invention, the motion parameters in the test model parameters include slewing plane operation parameters, variable amplitude plane operation parameters, and ground vibration waves; and / or, the time-domain curves of the loaded loads in the test model parameters include the time-domain curves of lateral loads and the time-domain curves of suspended gravity. This ensures that the test control method can simultaneously simulate multiple composite loads such as lateral wind pressure loads, ground vibration wave displacement loads, and suspended gravity weight loads, meeting the test requirements under complex working conditions.

[0112] Therefore, the specific steps of the dynamic loading test control method provided by the present invention may include:

[0113] 1. First, collect relevant data from the original system of the test structure under test conditions;

[0114] 2. Determine the test model parameters based on the original system of the test structure. The test model parameters include structural parameters, motion parameters, and time-domain curves of the applied load.

[0115] 3. Perform operating condition simulation based on the test model parameters to obtain the test operating parameters of the original machine system;

[0116] 4. While establishing the test system for the test structure based on the test operation parameters of the original system, determine the ideal running trajectory and ideal loading pressure of the loading capsule assembly based on the test operation parameters of the original system;

[0117] 5. Based on a stable loading regression strategy, the follow-up frame device, the follow-up lifting component, and the loading capsule component are controlled separately;

[0118] 6. After the test is completed, the data used to evaluate the service capability of the test structure are analyzed and compared with the data obtained from the simulation model. Specifically, the stress and deformation of the test structure can be detected, and the stress and deformation changes can be used as indicators to evaluate service capability.

[0119] Specifically, the dynamic loading test control device and control method provided by the present invention have the following advantages:

[0120] (1) Uniformly Distributed Dynamic Wind Load Simulation Technology

[0121] Multiple loading capsules are evenly distributed to achieve equivalent application of wind load, which is closer to the actual working conditions. Adjacent loading capsules are connected by universal connectors, allowing the loading capsules to rotate relative to each other in two directions, ensuring the uniformity and following of the load during loading. The contact surface of the loading capsule with the test structure is provided with a bonding plate to improve the fit between the loading surface and the test structure.

[0122] (2) Load follow-up loading technology

[0123] The elastic damping rod is used to adjust the elastic force and eliminate the load fluctuation caused by the rebound of the test structure and the reverse compression of the loading bladder body. The lifting drive of the follow-up lifting assembly and the horizontal drive of the follow-up frame device and the horizontal fine adjustment mechanism ensure that the loading system responds quickly when the test structure moves and maintains a constant loading position. The rotatable setting of the rolling abutment on the abutment base ensures that the abutment base rolls on the abutment plate of the follow-up frame device, realizing a rapid response in the loading direction.

[0124] (3) High-precision operation control technology

[0125] Control is achieved through a stable regression strategy, enabling high-precision control and self-correction of the equipment. Multi-sensor detection ensures comprehensive and accurate data acquisition. The computing unit performs comprehensive calculations on sensor data and decouples it from motion to generate precise control commands. The execution unit parses the commands and sends them to the servo mechanism. When the equipment deviates from the preset trajectory, the system can quickly calculate the correction amount and adjust the equipment's actions to ensure operational accuracy.

[0126] (4) Multifunctional integrated design technology

[0127] The device integrates the follow-up frame, follow-up loading device, and control device into one unit to achieve dynamic loading of multi-functional composite loads. The equipment can simultaneously simulate multiple composite loads such as wind loads, displacement loads, and weight loads to meet the testing requirements under complex working conditions. Through modular design, the flexibility and applicability of the equipment are improved, and customized tests can be carried out for different systems.

[0128] (5) Dynamic loading accuracy improvement technology

[0129] The combination of elastic damping rods and loading capsule components can eliminate hysteresis and fluctuations during the loading process, improving the accuracy of dynamic loading. The elastic force of the elastic damping rods can be adjusted according to the magnitude of the lateral loading load, avoiding compression of the loading capsule body by the rebound of the test system. The rapid response capability of the loading capsule components ensures that the equipment remains stable during movement, reducing load fluctuations.

[0130] (6) Application scenario expansion technology

[0131] Multi-field applicability: The equipment is not only suitable for dynamic loading tests of engineering machinery boom systems, but can also be extended to dynamic performance testing of other complex structures (such as bridges, towers, etc.).

[0132] Parameter adjustment and test method optimization: By adjusting the loading parameters and test methods, the needs of different fields for dynamic loading tests can be met.

[0133] Complex Environment Support: Provides reliable technical support for the study of structural dynamic response under complex environments.

[0134] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0135] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0136] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0137] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A dynamic loading test control device, characterized in that, include: The follower frame device (100) can be moved and installed in the horizontal direction; The follow-up loading device includes a follow-up lifting component (200) and a loading bladder component (300) with adjustable loading pressure. There are at least two follow-up lifting components (200) and at least two loading bladder components (300). The at least two follow-up lifting components (200) are sequentially arranged on the follow-up frame device (100) in the same direction. The at least two loading bladder components (300) are respectively arranged at the driving ends of the at least two follow-up lifting components (200) and the at least two follow-up lifting components (200) can drive the corresponding loading bladder components (300) to lift and lower. The control device is signal-connected to the follower frame device (100), the follower lifting assembly (200), and the loading capsule assembly (300), and is configured as follows: The follower frame device (100), the follower lifting assembly (200) and the loading capsule assembly (300) are controlled respectively so that the loading capsule assembly (300) dynamically follows the loading of the test structure. The loading capsule assembly (300) includes an abutment frame (310) and a loading capsule body (320) disposed on the abutment frame (310) with adjustable loading pressure. The side of the loading capsule body (320) facing away from the abutment frame (310) can dynamically follow the loading of the test structure. The side of the abutment frame (310) facing away from the loading capsule body (320) abuts laterally against the follower frame device (100). The drive end of the follower lifting assembly (200) is connected to the corresponding abutment frame (310).

2. The dynamic loading test control device according to claim 1, characterized in that, The abutment frames (310) of any two adjacent loading capsule assemblies (300) are connected by a universal connector (314).

3. The dynamic loading test control device according to claim 2, characterized in that, The abutment frame (310) includes a mounting base (311), a connecting rod (312), and an abutment base (313). The mounting base (311) and the abutment base (313) are respectively disposed at both ends of the connecting rod (312). The mounting base (311) is provided with the loading bladder body (320) on the side away from the connecting rod (312). The mounting bases (311) of two adjacent loading bladder assemblies (300) are connected by the universal connector (314). The abutment base (313) is laterally abutted against the follower frame device (100) on the side away from the connecting rod (312). The abutment bases (313) of two adjacent loading bladder assemblies (300) are connected by the first hinge (315).

4. The dynamic loading test control device according to claim 3, characterized in that, The follow-up lifting assembly (200) includes a first lifting drive module (210) and a second lifting drive module (220) disposed on the follow-up frame device (100). The drive end of the first lifting drive module (210) is connected to the mounting base (311), and the drive end of the second lifting drive module (220) is connected to the abutment base (313).

5. The dynamic loading test control device according to claim 3, characterized in that, The connecting rod (312) is configured as an elastic shock absorber; and / or, the abutment base (313) is provided with a rolling abutment on the side opposite to the connecting rod (312), the rolling abutment being rotatably configured and used to laterally abut against the follower frame device (100).

6. The dynamic loading test control device according to claim 2, characterized in that, The loading capsule assembly (300) further includes a bonding plate (330), which is disposed on the side of the loading capsule body (320) away from the abutment frame (310) and is used to bond with the test structure. The bonding plate (330) includes a plurality of bonding sheet units (331), which are arranged in multiple rows and columns, and any two adjacent bonding sheet units (331) are connected by a second hinge (332).

7. The dynamic loading test control device according to any one of claims 1 to 6, characterized in that, The bottom of the follower frame device (100) is provided with multiple walking wheel modules (130), and each of the multiple walking wheel modules (130) can be independently set to change speed and independently turn. And / or, the follower frame device (100) is provided with a horizontal fine-tuning mechanism (400), and at least two of the follower lifting components (200) are mounted on the follower frame device (100) through the horizontal fine-tuning mechanism (400). The horizontal fine-tuning mechanism (400) can drive at least two of the follower lifting components (200) to perform position fine-tuning in the horizontal direction. And / or, the loading medium of the loading capsule assembly (300) is set to gas.

8. The dynamic loading test control device according to any one of claims 1 to 6, characterized in that, The dynamic loading test control equipment also includes a detection device connected to the control device. The detection device includes a force sensor, a pressure sensor, a displacement sensor, and an angle sensor. The force sensor is used to detect the loading pressure applied to the test structure by each of the loading capsule assemblies (300). The pressure sensor is used to detect the capsule pressure of each of the loading capsule assemblies (300). The displacement sensor is used to detect the horizontal displacement of the follower frame device (100) and the height at which each of the follower lifting assemblies (200) drives the corresponding loading capsule assembly (300) to rise or fall. The angle sensor is used to detect the turning angle of the follower frame device (100).

9. A dynamic loading test control method, characterized in that, The dynamic loading test control method is applied to the dynamic loading test control equipment according to any one of claims 1 to 8, and the dynamic loading test control method includes: Based on a stable loading regression strategy, the follower frame device (100), the follower lifting component (200), and the loading capsule component (300) are controlled respectively.

10. The dynamic loading test control method according to claim 9, characterized in that, The regression strategy based on loading stability, which controls the follow-up frame device (100), the follow-up lifting assembly (200), and the loading capsule assembly (300) respectively, includes: Determine the ideal trajectory and ideal loading pressure of the loading capsule assembly (300); The dynamic loading test control equipment is controlled according to the ideal running trajectory and ideal loading pressure so that the loading capsule assembly (300) dynamically follows the loading of the test structure and the actual running trajectory and actual loading pressure of the loading capsule assembly (300) are detected. If a deviation between the actual running trajectory and the ideal running trajectory is detected, the follower frame device (100) and / or the follower lifting assembly (200) are controlled to bring the actual running trajectory back to the ideal running trajectory. If a deviation between the actual loading pressure and the ideal loading pressure is detected, the loading capsule assembly (300) is controlled to make the actual loading pressure equal to the ideal loading pressure.

11. The dynamic loading test control method according to claim 10, characterized in that, The determination of the ideal operating trajectory and ideal loading pressure of the loading capsule assembly (300) includes: The test model parameters are determined based on the original system of the test structure. These parameters include structural parameters, motion parameters, and time-domain curves of the applied load. Operating condition simulations are performed based on the test model parameters to obtain the test operating parameters of the original machine system; The ideal operating trajectory and ideal loading pressure of the loading capsule assembly (300) are determined based on the test operation parameters of the original system.

12. The dynamic loading test control method according to claim 11, characterized in that, The motion parameters in the test model parameters include slewing plane operation parameters, variable amplitude plane operation parameters, and ground vibration waves; and / or, the time-domain curves of the loaded loads in the test model parameters include the time-domain curves of lateral loads and the time-domain curves of suspended gravity.

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