静态倾斜试验台控制系统设计

Design of control system of static inclining test table

为测试在各种静态角度下发动机的转速和输出功率,研制了一个可靠性好、精度高、承载能力强的倾斜试验台。该试验台采用四液压油缸三连杆并联机器人结构,很好的满足了大负载试件的测试要求。系统采用油缸活塞位置、上下腔压力差双闭环复合控制结构,根据学习控制的思想,修正角度和油缸活塞位移对应的参数表。试验结果表明,系统在满足静态精度要求的前提下,有效地限制了电气噪声和液压脉动的影响,满足角度误差要求,平台受力状况良好。该倾斜试验台控制系统为解决机械冗余机构控制问题提供了可行性方法,并在实际中得到了应用。

The paper introduces an inclining test bench designed to provide a more reliable, higher precise and heavier bearing table for testing motors＇ performance at different angles. The bench allows a better fulfillment of testing requirement of heavy loads by adopting the parallel structure of four hydraulic tanks and three sticks. The control system consists of double closed-loop complex control structure with tank＇s position and pressure. The learning control is introduced into correcting angle and position comparable index. Testing results show that the system allows a more effective restriction of influence of electrical noise and hydraulic impulse, based on fulfilling requirement for static precision. It satisfies angle error requirement and gives table a better strength status. This paper highlights a feasible method for mechanical redundant structure control and the practical operation.