A mold loading device control system and a control method thereof

Abstract

The application belongs to the technical field of wind tunnel test, and discloses a semi-mould loading device control system and a control method thereof. The semi-mould loading device control system is used for controlling four electric cylinders of the semi-mould loading device, and realizes Fx, Fy, Mx, My and Mz value loading of the semi-mould balance through the four electric cylinders. The semi-mould loading device control system takes a main control computer and an embedded ARM controller as a core control unit, is responsible for collection and processing of all signals, controls a running position of the electric cylinder, and has a prompt function of motion and state. The semi-mould loading device control system comprises the main control computer, the embedded ARM controller and control circuits corresponding to the electric cylinders. The control method comprises power-on self-checking of the control system, load rationality inspection, calculation of a tensile and compressive force sensor target value, current loading direction loading, current loading direction unloading, loading direction replacement and completion of all load group loading. Through automatic control, simple and convenient operation is realized.

Description

Technical Field

[0001] This invention belongs to the field of wind tunnel testing technology, specifically relating to a control system and control method for a half-mode loading device. Background Technology

[0002] Before conducting wind tunnel half-model force measurement tests, a balance loading test is required to ensure the balance force data and the proper functioning of the assembly's mechanical connections. There are two methods for conducting balance loading tests. One method involves performing the loading check on the half-model balance calibration device before transporting it to the test site for assembly. This method directly uses the corresponding loading module of the balance calibration for loading, without a separate loading control system. It's difficult to guarantee the working condition of the half-model balance after assembly at the test site, and it's also difficult to assess the reliability of the assembly connections. Moreover, if problems are found during the test after model assembly, the rework cost is high, severely impacting the test cycle and even preventing the timely delivery of test data. The other method involves installing the half-model balance horizontally and applying force components by hanging weights. This method makes it difficult to accurately measure the lever arm and cannot achieve full load combination loading, resulting in an incomplete test. Furthermore, the hanging weights are limited by the site and test area space, making it difficult to apply loads close to those of the half-model balance to verify deformation and connection reliability. This method generally uses manual loading and lacks independent equipment and control programs.

[0003] Currently, there is an urgent need to develop a control system and control method for a semi-modulus loading device. Summary of the Invention

[0004] One technical problem to be solved by the present invention is to provide a control system for a semi-molded loading device, and another technical problem to be solved by the present invention is to provide a control method for a semi-molded loading device, so as to overcome the defects of the prior art.

[0005] The semi-mold loading device control system of the present invention is used to control the four electric cylinders of the semi-mold loading device, and to load the Fx, Fy, Mx, My and Mz values ​​of the semi-mold balance through the four electric cylinders. The semi-mold loading device control system uses a main control computer and an embedded ARM controller as the core control unit, which is responsible for the acquisition and processing of all signals, controlling the running position of the electric cylinders, and has motion and status prompting functions. The semi-mold loading device control system includes a main control computer, an embedded ARM controller, and control circuits corresponding to each electric cylinder.

[0006] The main control computer is connected to one communication interface of the ARM controller via Ethernet, and the teach pendant is connected to another communication interface of the ARM controller via Ethernet. Data monitoring and operation command transmission can be achieved when the device is far away from the main control console and close to the loading device via a retractable cable. The CAN communication interface of the ARM controller is connected to the control circuit of each electric cylinder via the CAN bus. The control software is set on the main control computer.

[0007] The control circuit includes a power amplifier module, a servo motor, a reducer, and a tension / compression sensor connected in sequence. The signals from the tension / compression sensor are transmitted to the analog signal acquisition module of the main control computer for force closed-loop control. A current detection circuit is set between the power amplifier module and the servo motor, and an encoder feedback circuit is also set between the power amplifier module and the servo motor. The servo motor achieves linear motion through the reducer. The distance of the linear motion is measured by a linear grating, and the measurement signal is transmitted to the power amplifier module.

[0008] Furthermore, the electric cylinder adopts a control strategy of current closed loop, speed closed loop and dual position closed loop, and uses PID regulation of current closed loop, speed closed loop and position closed loop built into the reducer, and improves the control accuracy of the electric cylinder through linear grating.

[0009] Furthermore, the control software adopts a modular structure programming method, dividing the control software into several functional modules, each module completing a corresponding function;

[0010] Menu bar: Includes system configuration, system self-test, angle zeroing, angle reset, fault clearing, remote control, and developer options;

[0011] Static calibration module: Sets the Fx, Fy, Mx, My, and Mz values ​​of the semi-mode balance;

[0012] Status display module: Displays the Fx, Fy, Fz, Mx, My, and Mz values ​​of the semi-mode balance in real time;

[0013] One-click calibration module: Tests the Fx, Fy, Mx, My, and Mz values ​​of the semi-mode balance based on a given angle;

[0014] Plotting module: Displays the curves showing how the values ​​of Fx, Fy, Fz, Mx, My, and Mz of the semi-mode balance change over time;

[0015] Operation control module: Displays the loading settings, operation records, automatic loading, automatic unloading, data saving, and exit of the semi-mold balance.

[0016] The control method for the semi-mold loading device of the present invention includes the following steps:

[0017] S1. Control system power-on self-test;

[0018] After the mechanical parts of the semi-mold loading device are installed and prepared, the control system is powered on for self-test. The self-test includes the working status of the teach pendant communication, main control computer communication and CAN bus communication. If all are normal, the control system enters the standby interface and waits for the user to input the load. Otherwise, it will give an error code and prompt message.

[0019] S2. Conduct a load rationality test;

[0020] The system automatically reads the range information of the half-mode balance in the main control computer, or the user manually inputs the range information of the half-mode balance through the system configuration interface to verify the rationality of the user-input load and perform load rationality verification.

[0021] S3. Calculate the target value of the tension / compression sensor;

[0022] Users can set the Fx, Fy, Mx, My, and Mz values ​​of the half-mode balance via the touchscreen on the load input interface of the static calibration module. When the load exceeds the range of the half-mode balance, the user will be prompted that the range is exceeded and the value needs to be re-entered. After all load validity checks are passed, the target value of the tension and compression sensor is calculated.

[0023] S4. Load in the current loading direction;

[0024] After the user issues the loading command for the current loading direction:

[0025] S41. Each electric cylinder moves slowly, and the given current square wave signal gradually increases from 100Hz / 0.5A. The current loop parameter KP changes from weak to strong. Finally, when the current square wave signal is 100Hz / 1A, the current loop waveform, command, and feedback amplitude do not exceed 20%, and the phase does not exceed 20%.

[0026] S42. Feedback the linear motion position of the electric cylinders through linear gratings, calculate the real-time linear motion speed of each electric cylinder, with the maximum motion speed not exceeding 1mm / s, and display the electric cylinder position on the interface in real time to ensure that the display is consistent with the command direction;

[0027] S43. If the user presses the emergency stop button during loading, loading will be paused, and loading will resume according to the user's instructions after the fault is cleared;

[0028] S44. Once each tension and compression sensor reaches 99.99% of its target value, the loading is considered complete, each electric cylinder stops moving, and the user is prompted that the loading is complete.

[0029] S45. Collect data for each component of the semi-mode balance and calculate the relative loading error;

[0030] S5. Unload the load in the current loading direction;

[0031] After the user issues the unloading command in the current loading direction: each electric cylinder moves slowly in the opposite direction, the given current square wave signal gradually increases from 100Hz / 0.5A, the current loop parameter KP changes from weak to strong, and finally when the current square wave signal is 100HZ / 1A, the current loop waveform, command and feedback amplitude do not exceed 20%, and the phase does not exceed 20%, until the load is less than the initial preload and the movement stops, prompting the user to complete the unloading;

[0032] S6. Change the loading direction;

[0033] If the loading direction is changed, repeat steps S4 to S5 to complete the reverse loading;

[0034] S7. Complete loading of all load groups;

[0035] When there are multiple load groups, repeat steps S4 to S6. After all load groups have been loaded, save the loading data and power off the system.

[0036] When the semi-mold balance is installed vertically (with the balance's axial direction perpendicular to the horizontal direction), since the direction of gravity is the axial force that the semi-mold balance does not need to measure, it cannot be directly loaded by hanging weights. It is necessary to use a loading device and a matching automatic control system and control method to accurately apply and measure the lateral load. By comparing the load with the force measurement data collected by the balance, a comprehensive and quantifiable on-site balance loading test can be carried out on the vertically installed semi-mold balance before the model is installed.

[0037] The control system and method of the semi-mold loading device of the present invention can achieve smooth loading and unloading functions, automatically control the movement of the displacement mechanism to reach the set load value, with little human intervention and high loading efficiency; it has high control precision, clear logic, simple operation steps, and short closed-loop time; the control system is safe and reliable, and prevents the loading from exceeding the limit load by verifying the validity of the load setting and limiting the loading displacement; it adopts a modular design, with reasonable function settings, and the graphical display and data recording facilitate real-time monitoring of the loading process, and is easy to train and use.

[0038] The control system and method of the semi-mold loading device of the present invention realize single-component or multi-component combined loading through five-component loading; through automatic loading and unloading control, it achieves simple and convenient operation and has practical engineering value. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the control system of the semi-mold loading device of the present invention. Detailed Implementation

[0040] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] Example: Figure 1As shown, the semi-mold loading device control system of this embodiment is used to control the four electric cylinders of the semi-mold loading device, and to load the Fx, Fy, Mx, My and Mz values ​​of the semi-mold balance through the four electric cylinders. The semi-mold loading device control system uses a main control computer and an embedded ARM controller as the core control unit, which is responsible for the acquisition and processing of all signals, controlling the running position of the electric cylinders, and has motion and status prompting functions. The semi-mold loading device control system includes a main control computer, an embedded ARM controller, and control circuits corresponding to each electric cylinder.

[0042] The main control computer is connected to one communication interface of the ARM controller via Ethernet, and the teach pendant is connected to another communication interface of the ARM controller via Ethernet. Data monitoring and operation command transmission can be achieved when the device is far away from the main control console and close to the loading device via a retractable cable. The CAN communication interface of the ARM controller is connected to the control circuit of each electric cylinder via the CAN bus. The control software is set on the main control computer.

[0043] The control circuit includes a power amplifier module, a servo motor, a reducer, and a tension / compression sensor connected in sequence. The signals from the tension / compression sensor are transmitted to the analog signal acquisition module of the main control computer for force closed-loop control. A current detection circuit is set between the power amplifier module and the servo motor, and an encoder feedback circuit is also set between the power amplifier module and the servo motor. The servo motor achieves linear motion through the reducer. The distance of the linear motion is measured by a linear grating, and the measurement signal is transmitted to the power amplifier module.

[0044] Furthermore, the electric cylinder adopts a control strategy of current closed loop, speed closed loop and dual position closed loop, and uses PID regulation of current closed loop, speed closed loop and position closed loop built into the reducer, and improves the control accuracy of the electric cylinder through linear grating.

[0045] Furthermore, the control software adopts a modular structure programming method, dividing the control software into several functional modules, each module completing a corresponding function;

[0046] Menu bar: Includes system configuration, system self-test, angle zeroing, angle reset, fault clearing, remote control, and developer options;

[0047] Static calibration module: Sets the Fx, Fy, Mx, My, and Mz values ​​of the semi-mode balance;

[0048] Status display module: Displays the Fx, Fy, Fz, Mx, My, and Mz values ​​of the semi-mode balance in real time;

[0049] One-click calibration module: Tests the Fx, Fy, Mx, My, and Mz values ​​of the semi-mode balance based on a given angle;

[0050] Plotting module: Displays the curves showing how the values ​​of Fx, Fy, Fz, Mx, My, and Mz of the semi-mode balance change over time;

[0051] Operation control module: Displays the loading settings, operation records, automatic loading, automatic unloading, data saving, and exit of the semi-mold balance.

[0052] The control method for the semi-molded loading device in this embodiment includes the following steps:

[0053] S1. Control system power-on self-test;

[0054] After the mechanical parts of the semi-mold loading device are installed and prepared, the control system is powered on for self-test. The self-test includes the working status of the teach pendant communication, main control computer communication and CAN bus communication. If all are normal, the control system enters the standby interface and waits for the user to input the load. Otherwise, it will give an error code and prompt message.

[0055] S2. Conduct a load rationality test;

[0056] The system automatically reads the range information of the half-mode balance in the main control computer, or the user manually inputs the range information of the half-mode balance through the system configuration interface to verify the rationality of the user-input load and perform load rationality verification.

[0057] S3. Calculate the target value of the tension / compression sensor;

[0058] Users can set the Fx, Fy, Mx, My, and Mz values ​​of the half-mode balance via the touchscreen on the load input interface of the static calibration module. When the load exceeds the range of the half-mode balance, the user will be prompted that the range is exceeded and the value needs to be re-entered. After all load validity checks are passed, the target value of the tension and compression sensor is calculated.

[0059] S4. Load in the current loading direction;

[0060] After the user issues the loading command for the current loading direction:

[0061] S41. Each electric cylinder moves slowly, and the given current square wave signal gradually increases from 100Hz / 0.5A. The current loop parameter KP changes from weak to strong. Finally, when the current square wave signal is 100Hz / 1A, the current loop waveform, command, and feedback amplitude do not exceed 20%, and the phase does not exceed 20%.

[0062] S42. Feedback the linear motion position of the electric cylinders through linear gratings, calculate the real-time linear motion speed of each electric cylinder, with the maximum motion speed not exceeding 1mm / s, and display the electric cylinder position on the interface in real time to ensure that the display is consistent with the command direction;

[0063] S43. If the user presses the emergency stop button during loading, loading will be paused, and loading will resume according to the user's instructions after the fault is cleared;

[0064] S44. Once each tension and compression sensor reaches 99.99% of its target value, the loading is considered complete, each electric cylinder stops moving, and the user is prompted that the loading is complete.

[0065] S45. Collect data for each component of the semi-mode balance and calculate the relative loading error;

[0066] S5. Unload the load in the current loading direction;

[0067] After the user issues the unloading command in the current loading direction: each electric cylinder moves slowly in the opposite direction, the given current square wave signal gradually increases from 100Hz / 0.5A, the current loop parameter KP changes from weak to strong, and finally when the current square wave signal is 100HZ / 1A, the current loop waveform, command and feedback amplitude do not exceed 20%, and the phase does not exceed 20%, until the load is less than the initial preload and the movement stops, prompting the user to complete the unloading;

[0068] S6. Change the loading direction;

[0069] If the loading direction is changed, repeat steps S4 to S5 to complete the reverse loading;

[0070] S7. Complete loading of all load groups;

[0071] When there are multiple load groups, repeat steps S4 to S6. After all load groups have been loaded, save the loading data and power off the system.

[0072] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. For those skilled in the art, all features disclosed in the present invention, or all steps in all methods or processes disclosed, except for mutually exclusive features and / or steps, can be combined in any way without departing from the principles of the present invention. The present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A control method for a semi-mold loading device, characterized in that, The aforementioned semi-mold loading device control method uses a semi-mold loading device control system. This system controls the four electric cylinders of the semi-mold loading device, thereby loading the Fx, Fy, Mx, My, and Mz values ​​of the semi-mold balance. The semi-mold loading device control system uses a main control computer and an embedded ARM controller as its core control unit, responsible for all signal acquisition and processing, controlling the operating position of the electric cylinders, and providing motion and status indication functions. The semi-mold loading device control system includes a main control computer, an embedded ARM controller, and control circuits corresponding to each electric cylinder. The main control computer is connected to one communication interface of the ARM controller via Ethernet, and the teach pendant is connected to another communication interface of the ARM controller via Ethernet. Data monitoring and operation command transmission can be achieved when the device is far away from the main control console and close to the loading device via a retractable cable. The CAN communication interface of the ARM controller is connected to the control circuit of each electric cylinder via the CAN bus. The control software is set on the main control computer. The control circuit includes a power amplifier module, a servo motor, a reducer, and a tension / compression sensor connected in sequence. The signals from the tension / compression sensor are transmitted to the analog signal acquisition module of the main control computer for force closed-loop control. A current detection circuit is set between the power amplifier module and the servo motor, and an encoder feedback circuit is also set between the power amplifier module and the servo motor. The servo motor achieves linear motion through the reducer. The distance of the linear motion is measured by a linear grating, and the measurement signal is transmitted to the power amplifier module. The control method for the semi-mold loading device includes the following steps: S1. Control system power-on self-test; After the mechanical parts of the semi-mold loading device are installed and prepared, the control system is powered on for self-test. The self-test includes the working status of the teach pendant communication, main control computer communication and CAN bus communication. If all are normal, the control system enters the standby interface and waits for the user to input the load. Otherwise, it will give an error code and prompt message. S2. Conduct a load rationality test; The system automatically reads the range information of the half-mode balance in the main control computer, or the user manually inputs the range information of the half-mode balance through the system configuration interface to verify the rationality of the user-input load and perform load rationality verification. S3. Calculate the target value of the tension / compression sensor; Users can set the Fx, Fy, Mx, My, and Mz values ​​of the half-mode balance via the touchscreen on the load input interface of the static calibration module. When the load exceeds the range of the half-mode balance, the user will be prompted that the range is exceeded and the value needs to be re-entered. After all load validity checks are passed, the target value of the tension and compression sensor is calculated. S4. Perform loading in the current loading direction; After the user issues the loading command for the current loading direction: S41. Each electric cylinder moves slowly, and the given current square wave signal gradually increases from 100Hz / 0.5A. The current loop parameter KP changes from weak to strong. Finally, when the current square wave signal is 100Hz / 1A, the current loop waveform, command, and feedback amplitude do not exceed 20%, and the phase does not exceed 20%. S42. Feedback the linear motion position of the electric cylinders through linear gratings, calculate the real-time linear motion speed of each electric cylinder, with the maximum motion speed not exceeding 1mm / s, and display the electric cylinder position on the interface in real time to ensure that the display is consistent with the command direction; S43. If the user presses the emergency stop button during loading, loading will be paused, and loading will resume according to the user's instructions after the fault is cleared; S44. Once each tension and compression sensor reaches 99.99% of its target value, the loading is considered complete, each electric cylinder stops moving, and the user is prompted that the loading is complete. S45. Collect data for each component of the semi-mode balance and calculate the relative loading error; S5. Unload the load in the current loading direction; After the user issues the unloading command in the current loading direction: each electric cylinder moves slowly in the opposite direction, the given current square wave signal gradually increases from 100Hz / 0.5A, the current loop parameter KP changes from weak to strong, and finally when the current square wave signal is 100HZ / 1A, the current loop waveform, command and feedback amplitude do not exceed 20%, and the phase does not exceed 20%, until the load is less than the initial preload and the movement stops, prompting the user to complete the unloading; S6. Change the loading direction; If the loading direction is changed, repeat steps S4 to S5 to complete the reverse loading; S7. Complete loading of all load groups; When there are multiple load groups, repeat steps S4 to S6. After all load groups have been loaded, save the loading data and power off the system.

2. The control method for the semi-mold loading device according to claim 1, characterized in that, The electric cylinder adopts a control strategy of current closed loop, speed closed loop and dual position closed loop. It uses PID regulation of current closed loop, speed closed loop and position closed loop built into the servo driver, and improves the control accuracy of the electric cylinder through linear grating.

3. The control method for the semi-mold loading device according to claim 2, characterized in that, The control software adopts a modular structure programming method, which divides the control software into several functional modules, each of which performs a corresponding function. Menu bar: Includes system configuration, system self-test, angle zeroing, angle reset, fault clearing, remote control, and developer options; Static calibration module: Sets the Fx, Fy, Mx, My, and Mz values ​​of the semi-mode balance; Status display module: Displays the Fx, Fy, Fz, Mx, My, and Mz values ​​of the semi-mode balance in real time; One-click calibration module: Tests the Fx, Fy, Mx, My, and Mz values ​​of the semi-mode balance based on a given angle; Plotting module: Displays the curves showing how the values ​​of Fx, Fy, Fz, Mx, My, and Mz of the semi-mode balance change over time; Operation control module: Displays the loading settings, operation records, automatic loading, automatic unloading, data saving, and exit of the semi-mold balance.

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