Verification device of electro-hydraulic servo control algorithm

Abstract

The utility model discloses a verification device for an electro-hydraulic servo control algorithm. The verification device comprises a servo motor, a lead screw module, a transmission belt, a detection assembly and an adjusting assembly, the lead screw module is connected with the servo motor through a transmission belt, the detection assembly is connected with the lead screw module, and the adjusting assembly is used for adjusting the distance between the servo motor and the lead screw module in the x direction so as to change the tightness of the transmission belt. The opening degree of a servo valve is simulated by adopting different rotating speeds of a servo motor, the movement of an actuator is simulated by adopting a lead screw module, the rigidity performance of different working conditions is simulated by adopting a transmission belt and an adjusting assembly, and the movement data of the lead screw module is acquired by utilizing a detection assembly, so that the verification of an electro-hydraulic servo control algorithm is realized. The device has the advantages of simple structure, convenience in operation, small size and low cost.

Description

Technical Field

[0001] The utility model relates to the technical field of electro-hydraulic servo control, in particular to a verification device for an electro-hydraulic servo control algorithm. Background Art

[0002] The electro-hydraulic servo system refers to a hydraulic control system with servo elements (servo valves or servo pumps) as the control core. It is usually composed of a command device, a controller, an amplifier, a hydraulic source, a servo element, an actuator, a feedback sensor and a load. The controller embeds an electro-hydraulic servo control algorithm to control the electro-hydraulic servo system. Before the electro-hydraulic servo system is put into use, the written electro-hydraulic servo control algorithm needs to be verified to ensure that there will be no errors in actual use.

[0003] At present, the commonly used verification methods are: 1. Using simulation software for simulation verification; 2. Building a complete electro-hydraulic servo system for verification. These two verification methods have the following shortcomings:

[0004] Since the parameter settings during modeling cannot fully simulate the actual working conditions, using simulation software for verification will cause the verification results to be too ideal, making it difficult to discover algorithm loopholes.

[0005] Since the complete electro-hydraulic servo system contains many components, the entire system is too complex and large, which is not only costly, but also noisy and inconvenient to use. Utility Model Content

[0006] In order to solve the problems existing in the prior art, the utility model provides a verification device for an electro-hydraulic servo control algorithm, which is not only simple in structure and occupies a small space, but also easy to operate.

[0007] The technical solution adopted by the utility model to solve its technical problem is: a verification device for an electro-hydraulic servo control algorithm, comprising: a servo motor, a screw module, a transmission belt, a detection component and an adjustment component; the screw module is connected to the servo motor through a transmission belt, the detection component is connected to the screw module, and the adjustment component is used to adjust the distance between the servo motor and the screw module in the x direction to change the tightness of the transmission belt.

[0008] Furthermore, the adjustment assembly includes: a slide rail, a mounting seat, a locking module and an adjustment member, the mounting seat is connected to the slide rail, the servo motor is installed on the mounting seat, the locking module is connected to the mounting seat, and the adjustment member is used to adjust the position of the mounting seat along the x direction.

[0009] Furthermore, the locking module includes: a first connecting plate, a locking body, two locking blocks and a locking piece, the first connecting plate is connected to the mounting seat, the locking body is connected to the first connecting plate, the locking piece is arranged in the locking body along the y direction, the two locking blocks are threadedly connected to the locking piece, and the two locking blocks are located on both sides of the slide rail.

[0010] Furthermore, the adjusting member is mounted on the fixing block, and the adjusting member is threadedly connected to the mounting seat.

[0011] Furthermore, it also includes: a scale for indicating the moving distance of the mounting seat.

[0012] Furthermore, the lead screw module and the detection assembly are connected via a second connecting plate.

[0013] Furthermore, the detection assembly includes: a sensor body, a moving block and a connecting rod, the moving block is connected to the sensor body, the connecting rod is connected to the moving block, and the connecting rod is connected to the second connecting plate.

[0014] Furthermore, it also includes: a protective cover for protecting the transmission belt.

[0015] Furthermore, it also includes: a mounting platform, and the servo motor, the lead screw module and the detection component are all arranged on the mounting platform.

[0016] Furthermore, a limit sensing component is provided on the lead screw module.

[0017] The beneficial effect of the utility model is that the verification device of the utility model adopts different rotation speeds of the servo motor to simulate the opening of the servo valve, adopts the screw module to simulate the movement of the actuator, adopts the transmission belt and the adjustment component to simulate the stiffness performance of different working conditions, and uses the detection component to collect the motion data of the screw module, thereby realizing the verification of the electro-hydraulic servo control algorithm, and has the advantages of simple structure, easy operation, small size and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 It is a structural schematic diagram of the verification device of the utility model.

[0020] Figure 2 It is a front view of the verification device of the utility model.

[0021] Figure 3 It is a structural schematic diagram of the regulating component of the utility model.

[0022] Figure 4It is a structural schematic diagram of the locking module of the utility model.

[0023] Figure 5 It is a schematic diagram of the locking module of the present invention from another angle.

[0024] Figure 6 It is a structural schematic diagram of the protective cover of the utility model.

[0025] Figure 7 It is a structural schematic diagram of the limit sensing component of the utility model.

[0026] In the figure: 1. servo motor; 2. screw module; 3. transmission belt; 4. detection component; 5. adjustment component; 6. fixing block; 7. scale; 8. second connecting plate; 9. protective cover; 10. installation platform; 11. limit sensor; 41. sensor body; 42. moving block; 43. connecting rod; 51. slide rail; 52. mounting seat; 53. locking module; 54. adjustment member; 531. first connecting plate; 532. locking body; 533. locking block; 534. locking member; 101. foot. DETAILED DESCRIPTION

[0027] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0028] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] like Figures 1 to 7 As shown, the verification device of the electro-hydraulic servo control algorithm of the utility model includes: a servo motor 1, a screw module 2, a transmission belt 3, a detection component 4 and an adjustment component 5. The screw module 2 is connected to the servo motor 1 through the transmission belt 3, the detection component 4 is connected to the screw module 2, and the adjustment component 5 is used to adjust the distance between the servo motor 1 and the screw module 2 in the x direction to change the tightness of the transmission belt 3.

[0031] It should be noted that the input value of the servo motor 1 adopts -10V~+10V, which is used to control the speed of the servo motor 1 and simulate the opening of the servo valve core; the tightness of the transmission belt 3 is adjustable, which is used to simulate the stiffness performance of the hydraulic oil under different working conditions; the screw module 2 is used to simulate the movement of the actuator (actuator); the detection component 4 is used to collect the motion data of the screw module 2 (including displacement, speed, acceleration and other parameters). The servo motor 1 is equipped with a corresponding controller, and the written electro-hydraulic servo control algorithm is input into the controller of the servo motor 1. The controller adjusts the speed of the servo motor 1 according to the received input voltage, and drives the slider of the screw module 2 to move through the transmission belt 3. The movement of the slider will be transmitted to the detection component 4, and the detection component 4 will feed back the collected motion data to the hydraulic motion controller. According to the collected motion data, the accuracy and reliability of the electro-hydraulic servo control algorithm can be verified. The verification device of the utility model has the advantages of simple structure, convenient operation, small size and low cost.

[0032] Specifically, the adjustment assembly 5 includes: a slide rail 51, a mounting seat 52, a locking module 53 and an adjustment member 54. The mounting seat 52 is connected to the slide rail 51, the servo motor 1 is mounted on the mounting seat 52, the locking module 53 is connected to the mounting seat 52, and the adjustment member 54 is used to adjust the position of the mounting seat 52 along the x direction. The locking module 53 includes: a first connecting plate 531, a locking body 532, two locking blocks 533 and a locking member 534. The first connecting plate 531 is connected to the mounting seat 52, the locking body 532 is connected to the first connecting plate 531, the locking member 534 is arranged in the locking body 532 along the y direction, the two locking blocks 533 are threadedly connected to the locking member 534, and the two locking blocks 533 are located on both sides of the slide rail 51. The adjustment member 54 is installed on the fixing block 6, and the adjustment member 54 is threadedly connected to the mounting seat 52.

[0033] It should be noted that the slide rail 51 is arranged along the x-direction, and the mounting seat 52 can slide back and forth along the x-direction. Since the position of the screw module 2 is unchanged, when the mounting seat 52 moves along the x-direction, the distance between the servo motor 1 and the screw module 2 can be changed, thereby changing the tightness of the transmission belt 3. The looser the transmission belt 3, the lower the stiffness of the transmission. When the verification device is working, the locking module 53 is in a locked state (that is, the mounting seat 52 cannot move). When the tightness of the transmission belt 3 needs to be adjusted, first open the locking module 53 so that the mounting seat 52 is in a sliding state, and then rotate the adjusting member 54 to make the mounting seat 52 close to or away from the fixed block 6. After the adjustment is completed, restore the locking module 53 to the locked state.

[0034] Specifically, the two locking blocks 533 are respectively located on both sides of a slide rail 51. When the locking member 534 is rotated, the two locking blocks 533 can be moved closer to or farther from each other. When the two locking blocks 533 are moved closer to each other to clamp the slide rail 51, the locking module 53 is in a locked state, and the mounting seat 52 cannot move. When the two locking blocks 533 are moved away from each other to release the slide rail 51, the locking module 53 is released from the locked state, and the mounting seat 52 can move freely.

[0035] For example, the verification device also includes: a scale 7 for indicating the moving distance of the mounting seat 52. The scale 7 is fixed to the front end of the mounting seat 52, and an indicator arrow is provided on the front end surface of the mounting seat 52. The different positions of the indicator arrow on the scale 7 correspond to different tightnesses. The scale 7 helps to quantify the stiffness of the transmission belt 3, which is convenient for comparing the effects of different stiffnesses on the control effect. For example, the range of the scale 7 is 1 cm, and the moving distance range of the mounting seat 52 is within 1 cm. Of course, in other embodiments, the range of the scale 7 can be changed to adapt to different verification requirements.

[0036] For example, the verification device further includes: a protective cover 9 for protecting the transmission belt 3. The protective cover 9 is located in front of the mounting seat 52, and the transmission belt 3 is covered by the protective cover 9 to prevent the transmission belt 3 from being accidentally touched during verification. The protective cover 9 is provided with an opening at a position corresponding to the scale 7 to facilitate reading the scale 7.

[0037] For example, the lead screw module 2 is connected to the detection component 4 via the second connecting plate 8. The detection component 4 includes: a sensor body 41, a moving block 42 and a connecting rod 43, wherein the moving block 42 is connected to the sensor body 41, the connecting rod 43 is connected to the moving block 42, and the connecting rod 43 is connected to the second connecting plate 8. The connecting plate 8 is connected to the slider of the lead screw module 2. Driven by the servo motor 1, the slider of the lead screw module 2 can move along the y direction, and when the slider moves, the moving block 42 is driven to move synchronously via the second connecting plate 8, so that the sensor body 41 can collect the motion data of the lead screw module 2 through the movement of the moving block 42.

[0038] For example, the lead screw module 2 is provided with a limit sensor 11. The limit sensor 11 is, for example, a photoelectric sensor. The limit sensors 11 are provided at both ends of the lead screw module 2. A baffle is connected to the slider of the lead screw module 2. The baffle moves with the movement of the slider. When the baffle is inserted into the photoelectric sensor, the photoelectric sensor triggers a signal to be fed back to the controller, and the controller can control the servo motor 1 to stop. The limit sensor 11 can prevent the movement of the lead screw module 2 from exceeding the safety range.

[0039] For example, the verification device further includes a mounting platform 10, on which the servo motor 1, the lead screw module 2, and the detection assembly 4 are all arranged. The slide rail 51 is arranged on the mounting platform 10. The lower surface of the mounting platform 10 is provided with four feet 101, which facilitates adjusting the levelness of the mounting platform.

[0040] Verification work process:

[0041] The programmed electro-hydraulic servo control algorithm is input into the controller of the servo motor 1. The controller adjusts the speed of the servo motor 1 according to the received input voltage, and drives the slider of the lead screw module 2 to move through the transmission belt 3. The movement of the slider is transmitted to the detection component 4, and the detection component 4 feeds back the collected motion data to the hydraulic motion controller. The accuracy and reliability of the electro-hydraulic servo control algorithm are verified based on the collected motion data.

[0042] In summary, the verification device of the utility model adopts different rotation speeds of the servo motor 1 to simulate the opening of the servo valve, adopts the screw module 2 to simulate the movement of the actuator, adopts the transmission belt 3 and the adjustment component 5 to simulate the stiffness performance of different working conditions, and uses the detection component 4 to collect the motion data of the screw module 2, thereby realizing the verification of the electro-hydraulic servo control algorithm, and has the advantages of simple structure, easy operation, small size and low cost.

[0043] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without departing from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A verification device for an electro-hydraulic servo control algorithm, characterized in that: include: A servo motor (1), a screw module (2), a transmission belt (3), a detection component (4) and an adjustment component (5); the screw module (2) is connected to the servo motor (1) via the transmission belt (3), the detection component (4) is connected to the screw module (2), and the adjustment component (5) is used to adjust the distance between the servo motor (1) and the screw module (2) in the x direction to change the tightness of the transmission belt (3).

2. The verification device for the electro-hydraulic servo control algorithm according to claim 1, characterized in that: The adjustment assembly (5) comprises: a slide rail (51), a mounting seat (52), a locking module (53) and an adjustment member (54); the mounting seat (52) is connected to the slide rail (51); the servo motor (1) is mounted on the mounting seat (52); the locking module (53) is connected to the mounting seat (52); and the adjustment member (54) is used to adjust the position of the mounting seat (52) along the x-direction.

3. The verification device for the electro-hydraulic servo control algorithm according to claim 2, characterized in that: The locking module (53) comprises: a first connecting plate (531), a locking body (532), two locking blocks (533) and a locking piece (534); the first connecting plate (531) is connected to the mounting seat (52); the locking body (532) is connected to the first connecting plate (531); the locking piece (534) is arranged in the locking body (532) along the y direction; the two locking blocks (533) are threadedly connected to the locking piece (534); and the two locking blocks (533) are located on both sides of the slide rail (51).

4. The verification device for the electro-hydraulic servo control algorithm according to claim 2, characterized in that: The adjusting member (54) is mounted on the fixing block (6), and the adjusting member (54) is threadedly connected to the mounting seat (52).

5. The verification device for the electro-hydraulic servo control algorithm according to claim 2, characterized in that: Also includes: A scale (7) for indicating the moving distance of the mounting seat (52).

6. The verification device for the electro-hydraulic servo control algorithm according to claim 1, characterized in that: The lead screw module (2) and the detection assembly (4) are connected via a second connecting plate (8).

7. The verification device for the electro-hydraulic servo control algorithm according to claim 6, characterized in that: The detection assembly (4) comprises: a sensor body (41), a moving block (42) and a connecting rod (43); the moving block (42) is connected to the sensor body (41); the connecting rod (43) is connected to the moving block (42); and the connecting rod (43) is connected to the second connecting plate (8).

8. The verification device for the electro-hydraulic servo control algorithm according to claim 1, characterized in that: Also includes: A protective cover (9) for protecting the transmission belt (3).

9. The verification device for the electro-hydraulic servo control algorithm according to claim 1, characterized in that: Also includes: A mounting platform (10), wherein the servo motor (1), the lead screw module (2) and the detection component (4) are all arranged on the mounting platform (10).

10. The verification device for the electro-hydraulic servo control algorithm according to claim 1, characterized in that: The lead screw module (2) is provided with a limit sensing component (11).

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