阅读说明：本技术 一种基于插装阀的大功率负载模拟系统及使用方法 (High-power load simulation system based on cartridge valve and use method ) 是由 汪成文 张俊琪 赵赞魁 杜伟 于 2021-01-26 设计创作，主要内容包括：本发明属于仿真技术领域,具体为一种基于插装阀的大功率负载模拟系统及使用方法。包括加载作动器、转速计、力矩传感器、加载控制器、比例减压阀Ⅰ、比例减压阀Ⅱ、比例减压阀Ⅲ、比例减压阀Ⅳ、二位二通电磁换向阀Ⅰ、插装阀Ⅰ、插装阀Ⅱ、插装阀Ⅲ、插装阀Ⅳ、二位二通电磁换向阀Ⅱ、单向阀、单向变量液压泵、油箱、力矩反馈信号微分器、加载轴轴向刚度比例单元、角速度指令计算单元、被加载对象角度反馈信号微分器和角速度伺服控制器。本发明的加载装置不仅结构简单,成本较低,而且实现了对加载作动器的流量和压力状态的分腔协调控制,消除了被加载对象主动运动导致的强迫流量,多余力抑制效果好,负载模拟精度高。(The invention belongs to the technical field of simulation, and particularly relates to a high-power load simulation system based on a cartridge valve and a using method. The device comprises a loading actuator, a tachometer, a torque sensor, a loading controller, a proportional pressure reducing valve I, a proportional pressure reducing valve II, a proportional pressure reducing valve III, a proportional pressure reducing valve IV, a two-position two-way electromagnetic directional valve I, a cartridge valve II, a cartridge valve III, a cartridge valve IV, a two-position two-way electromagnetic directional valve II, a one-way valve, a one-way variable hydraulic pump, an oil tank, a torque feedback signal differentiator, a loading shaft axial rigidity proportional unit, an angular speed instruction calculating unit, a loaded object angle feedback signal differentiator and an angular speed servo controller. The loading device disclosed by the invention is simple in structure and low in cost, realizes the cavity-divided coordination control on the flow and pressure states of the loading actuator, eliminates the forced flow caused by the active movement of the loaded object, and is good in redundant force inhibition effect and high in load simulation precision.)

1. The utility model provides a high-power load analog system based on cartridge valve which characterized in that: comprises a loading actuator (1), a tachometer (2), a torque sensor (3), a loading controller (4), a proportional pressure reducing valve I (5), a proportional pressure reducing valve II (6), a proportional pressure reducing valve III (7), a proportional pressure reducing valve IV (8), a two-position two-way electromagnetic directional valve I (9), a cartridge valve I (10), a cartridge valve II (11), a cartridge valve III (12), a cartridge valve IV (13), a two-position two-way electromagnetic directional valve II (14), a one-way valve (16), a one-way variable hydraulic pump (18), an oil tank (19), a torque feedback signal differentiator (20), a loading shaft axial rigidity proportional unit (21), an angular velocity instruction calculating unit (22), a loaded object angular feedback signal differentiator (23) and an angular velocity servo controller (24), wherein the tachometer (2) and the torque sensor (3) are arranged on an axial rod of the loading actuator (1), the output end of the torque sensor (3) is connected with the inverting end of the loading controller (4), the inverting end of the loading controller (4) is connected with the inverting end of the angular velocity instruction calculating unit (22) through a torque feedback signal differentiator (20) and a loading shaft axial rigidity proportion unit (21) which are sequentially connected, the inverting end of the angular velocity instruction calculating unit (22) is connected with a loaded object angle feedback signal differentiator (23), the loaded object angle feedback signal differentiator (23) is connected with a loaded object system, and the output end of the angular velocity instruction calculating unit (22) is connected with the inverting end of an angular velocity servo controller (24); the cavity A of the loading actuator (1) is respectively connected with the oil port A of the cartridge valve I (10) and the oil port B of the cartridge valve II (11), and the cavity B of the loading actuator (1) is respectively connected with the oil port B of the cartridge valve III (12) and the oil port A of the cartridge valve IV (13); oil ports A of the cartridge valve II (11) and the cartridge valve III (12) are connected with a pressure oil output end of a one-way variable hydraulic pump (18) through a one-way valve (16), an oil inlet end of the one-way variable hydraulic pump (18) is connected with an oil tank (19), and oil ports B of the cartridge valve I (10) and the cartridge valve IV (13) are connected with the oil tank (19) through a two-position two-way electromagnetic directional valve I (9) and a two-position two-way electromagnetic directional valve II (14) respectively; x ports of the cartridge valve I (10), the cartridge valve II (11), the cartridge valve III (12) and the cartridge valve IV (13) are respectively connected with the proportional pressure reducing valve I (5), the proportional pressure reducing valve II (6), the proportional pressure reducing valve III (7) and the proportional pressure reducing valve IV (8).

2. The cartridge valve-based high power load simulation system of claim 1, wherein: oil ports A of the cartridge valve II (11) and the cartridge valve III (12) are also connected with an oil tank (19) through a pilot type overflow valve (15) and a two-position two-way electromagnetic directional valve III (17) which are sequentially connected.

3. The cartridge valve-based high power load simulation system of claim 2, wherein: the proportional pressure reducing valve I (5), the proportional pressure reducing valve II (6), the proportional pressure reducing valve III (7) and the proportional pressure reducing valve IV (8) can be direct-acting proportional pressure reducing valves or pilot proportional pressure reducing valves.

4. A method of using a cartridge valve based high power load simulation system according to claim 1, 2 or 3, characterized in that: when the motion direction of the loaded object and the direction of the moment spectrum instruction are positive, the loading actuator is called as a working mode 1, the cavity A of the loading actuator works in a flow mode, and the cavity B works in a pressure mode; when the motion direction of the loaded object is positive and the direction of the moment spectrum instruction is negative, the loading actuator is called as a working mode 2, the cavity A of the loading actuator works in a pressure mode, and the cavity B works in a flow mode; when the motion direction of the loaded object and the direction of the moment spectrum instruction are negative, the loading actuator is called as a working mode 3, the cavity A of the loading actuator works in a pressure mode, and the cavity B works in a flow mode; when the motion direction of the loaded object is negative and the direction of the moment spectrum instruction is positive, the working mode is called as working mode 4, the cavity A of the loading actuator works in a flow mode, and the cavity B works in a pressure mode;

when the loading device is in the working mode 1, the cavity A of the loading actuator (1) is in a flow mode, the cavity B of the loading actuator is in a pressure mode, oil flowing out of the unidirectional variable hydraulic pump (18) flows into the cavity B of the loading actuator (1) through the cartridge valve III (12), the oil flows out of the cavity A, at the moment, the two-position two-way electromagnetic directional valve I (9) is powered off, and the oil flows back to an oil tank through the electromagnetic directional valve I (9); collecting a moment spectrum command and an angular velocity feedback signal of a loaded object, generating a command signal for decoupling the motion of the loaded object through a moment feedback signal differentiator (20) and an angular velocity command calculation unit (22), generating a flow control signal by an angular velocity servo controller (24) by using the signal and the angular velocity feedback signal of a loading actuator (1) based on a PID algorithm, controlling the pressure output by a proportional pressure reducing valve III (7) so as to control the opening of a valve element of a cartridge valve I (10), further adjusting the flow of a cavity A of the loading actuator (1), realizing the control of the angular velocity output by the loading actuator (1), generating a loading control signal through a loading controller (4) by using a moment sensor (3) feedback signal and the moment spectrum command, controlling the pressure output by a proportional pressure reducing valve II (6) so as to control the opening of the valve element of the cartridge valve III (12), further adjusting the pressure of the cavity B of the loading actuator (1) to realize the control of the output torque of the loading actuator;

when the loading device is in a working mode 2, a cavity A of the loading actuator (1) is in a pressure mode, a cavity B of the loading actuator is in a flow mode, oil flowing out of the unidirectional variable hydraulic pump (18) flows into the cavity B of the loading actuator (1) through the cartridge valve III (12), the oil flows out of the cavity A, at the moment, the two-position two-way electromagnetic directional valve I (9) is electrified, the oil flowing through the cartridge valve I (10) and the oil output by the unidirectional variable hydraulic pump (18) flow into the cartridge valve III (12) together, the output flow of the unidirectional variable hydraulic pump (18) is reduced, and therefore the purpose of energy-saving loading is achieved; collecting a moment spectrum command and an angular velocity feedback signal of a loaded object, generating a command signal for decoupling the motion of the loaded object through a moment feedback signal differentiator (20) and an angular velocity command calculation unit (22), generating a flow control signal by an angular velocity servo controller (24) by using the signal and the angular velocity feedback signal of a loading actuator (1) based on a PID algorithm, controlling the pressure output by a proportional pressure reducing valve II (6) so as to control the opening of a valve element of a cartridge valve III (12), further adjusting the flow of a cavity B of the loading actuator (1), realizing the control of the angular velocity output by the loading actuator (1), generating a loading control signal through a loading controller (4) by using a moment sensor (3) feedback signal and the moment spectrum command, controlling the pressure output by a proportional pressure reducing valve III (7) so as to control the opening of the valve element of the cartridge valve I (10), the pressure of the cavity A of the loading actuator (1) is further adjusted, and the control of the output torque of the loading actuator is realized;

when the loading device is in a working mode 3, a cavity A of a loading actuator (1) is in a pressure mode, a cavity B is in a flow mode, oil flowing out of a one-way variable hydraulic pump (18) flows into the cavity A of the loading actuator (1) through a cartridge valve II (11), the oil flows out of the cavity B, at the moment, a two-position two-way electromagnetic directional valve II (14) is powered off, the oil returns to a tank through a cartridge valve IV (13) and a two-position two-way electromagnetic directional valve (14), a moment spectrum command and an angular velocity feedback signal of a loaded object are collected, a command signal for decoupling the motion of the loaded object is generated through a moment feedback signal differentiator (20) and an angular velocity command calculation unit (22), an angular velocity servo controller (24) generates a flow control signal based on a PID algorithm by utilizing the signal and the angular velocity feedback signal of the loading actuator (1), and controls the pressure output by a, the opening of the valve core of the cartridge valve IV (13) is controlled, the flow of the cavity B of the loading actuator (1) is adjusted, the control of the output angular velocity of the loading actuator is realized, a loading control signal is generated through the loading controller (4) by utilizing a feedback signal and a moment spectrum instruction of the torque sensor (3), the pressure output by the proportional pressure reducing valve I (5) is controlled, the opening of the valve core of the cartridge valve II (11) is controlled, the pressure of the cavity A of the loading actuator (1) is adjusted, and the control of the output torque of the loading actuator is realized;

when the loading device is in a working mode 4, a cavity A of the loading actuator (1) is in a flow mode, a cavity B of the loading actuator is in a pressure mode, oil flowing out of the unidirectional variable hydraulic pump (18) flows into the cavity A of the loading actuator (1) through a cartridge valve II (11), the oil flows out of the cavity B, at the moment, a two-position two-way electromagnetic directional valve II (14) is electrified, the oil flowing through a cartridge valve IV (13) and the oil output by the unidirectional variable hydraulic pump (18) flow into the cartridge valve II (11) together, the output flow of the unidirectional variable hydraulic pump (18) is reduced, and therefore the purpose of energy-saving loading is achieved; collecting a moment spectrum command and an angular velocity feedback signal of a loaded object, generating a command signal for decoupling the motion of the loaded object through a moment feedback signal differentiator (20) and an angular velocity command calculation unit (22), generating a flow control signal by an angular velocity servo controller (24) by using the signal and the angular velocity feedback signal of a loading actuator (1) based on a PID algorithm, controlling the pressure output by a proportional pressure reducing valve I (5) so as to control the opening of a valve element of a cartridge valve II (11), further adjusting the flow of a cavity A of the loading actuator (1), realizing the control of the angular velocity output by the loading actuator, generating a loading control signal by using a moment sensor (3) feedback signal and the moment spectrum command through a loading controller (4), controlling the pressure output by a proportional pressure reducing valve IV (8), further controlling the opening of the valve element of the cartridge valve IV (13), further adjusting the pressure of the cavity B of the loading actuator (1), and the control of the output torque of the loading actuator is realized.

Technical Field

The invention belongs to the technical field of simulation, and particularly relates to a high-power load simulation system based on a cartridge valve and a using method.

Background

The load simulator has wide application in the fields of aerospace, vehicles, ships and the like, is mainly used in semi-physical simulation tests, can track a load spectrum given by a computer in real time, simulates the load of a loaded object in a real environment, and detects the technical performance index of a loaded object system. The load simulator simulates the moment load borne by the hoister, and can detect the loading performance and control precision of the hoister and the stability and reliability of a brake control system of the hoister under the laboratory condition.

In the situation that a high-power mine hoist typically represents the situation that the loading technology needs large flow and large torque, the traditional load simulation system is restricted by the maximum flow of a loading valve and is not suitable for large-flow load simulation working conditions, and the traditional load simulation system cannot meet the technical requirements of a hoist loading experiment. Meanwhile, the traditional load simulation system has no energy-saving loading function, and has low energy utilization rate and high energy consumption under the condition of reverse loading.

In terms of redundant force suppression, conventional load simulation systems utilize steering engine speed signals for feed-forward compensation. Patent CN104564915A proposes a two-degree-of-freedom electro-hydraulic load simulation control method based on pump-valve combination, which is to add a set of pump control system on the basis of the original valve control system to achieve the purpose of motion loading through compound control.

Overall, the conventional load simulation has several problems: (1) the traditional load simulation system can only be used in the working conditions of small flow and small moment, and in the traditional loading scheme, the pressure and the flow are simultaneously controlled and coupled with each other, so that the control precision is low and the load spectrum instruction tracking error is large. (2) Under the condition of reverse loading, the traditional load simulation system does not realize the energy-saving loading function, the energy utilization rate is not high, and the energy consumption is larger. (3) In the aspect of redundant force suppression, although some load simulation schemes have good effects, the load simulation system has a complex structure and high cost and is difficult to realize. Therefore, the design of a novel load simulation system which is suitable for simulating the working condition of a large-flow and large-torque load and has the advantages of both loading precision and energy utilization efficiency is significant.

Disclosure of Invention

The invention aims to solve the problems that a traditional load simulation system cannot be used in a large-flow and large-torque working condition and has high energy consumption, and also solves the problems that some load simulation schemes are complex in structure and difficult to realize and the like, and provides a high-power load simulation system based on a cartridge valve and a using method thereof.

The invention adopts the following technical scheme: a high-power load simulation system based on cartridge valves comprises a loading actuator, a tachometer, a torque sensor, a loading controller, a proportional pressure reducing valve I, a proportional pressure reducing valve II, a proportional pressure reducing valve III, a proportional pressure reducing valve IV, a two-position two-way electromagnetic directional valve I, a cartridge valve II, a cartridge valve III, a cartridge valve IV, a two-position two-way electromagnetic directional valve II, a one-way valve, a one-way variable hydraulic pump, an oil tank, a torque feedback signal differentiator, a loading shaft axial rigidity proportion unit, an angular speed instruction calculation unit, a loaded object angle feedback signal differentiator and an angular speed servo controller, wherein the tachometer and the torque sensor are installed on an axial rod of the loading actuator, the output end of the torque sensor is connected with the opposite phase end of the loading controller, the same phase end of the loading controller is connected with the same phase end of the angular speed instruction calculation unit through the torque feedback signal differentiator and the loading shaft axial, the in-phase end of the angular velocity instruction calculation unit is connected with the loaded object angle feedback signal differentiator, the loaded object angle feedback signal differentiator is connected with the loaded object system, and the output end of the angular velocity instruction calculation unit is connected with the in-phase end of the angular velocity servo controller; a cavity A of the loading actuator is respectively connected with an oil port A of the cartridge valve I and an oil port B of the cartridge valve II, and a cavity B of the loading actuator is respectively connected with an oil port B of the cartridge valve III and an oil port A of the cartridge valve IV; oil ports A of the cartridge valve II and the cartridge valve III are connected with a pressure oil output end of a one-way variable hydraulic pump through a one-way valve, an oil inlet end of the one-way variable hydraulic pump is connected with an oil tank, and oil ports B of the cartridge valve I and the cartridge valve IV are connected with the oil tank through a two-position two-way electromagnetic directional valve I and a two-position two-way electromagnetic directional valve II respectively; x ports of the cartridge valve I, the cartridge valve II, the cartridge valve III and the cartridge valve IV are respectively connected with the proportional pressure reducing valve I, the proportional pressure reducing valve II, the proportional pressure reducing valve III and the proportional pressure reducing valve IV.

Furthermore, oil ports A of the cartridge valve II and the cartridge valve III are also connected with an oil tank through a pilot overflow valve and a two-position two-way electromagnetic directional valve III which are sequentially connected.

Further, the proportional pressure reducing valve i, the proportional pressure reducing valve ii, the proportional pressure reducing valve iii, and the proportional pressure reducing valve iv may be direct-acting proportional pressure reducing valves or pilot proportional pressure reducing valves.

A use method of a high-power load simulation system based on a cartridge valve is characterized in that when the motion direction of a loaded object and the direction of a moment spectrum command are positive, the operation mode is called as an operation mode 1, a cavity A of a loading actuator works in a flow mode, and a cavity B works in a pressure mode; when the motion direction of the loaded object is positive and the direction of the moment spectrum instruction is negative, the loading actuator is called as a working mode 2, the cavity A of the loading actuator works in a pressure mode, and the cavity B works in a flow mode; when the motion direction of the loaded object and the direction of the moment spectrum instruction are negative, the loading actuator is called as a working mode 3, the cavity A of the loading actuator works in a pressure mode, and the cavity B works in a flow mode; when the motion direction of the loaded object is negative and the direction of the moment spectrum command is positive, the working mode 4 is called, the A cavity of the loading actuator works in the flow mode, and the B cavity works in the pressure mode.

When the loading device is in the working mode 1, the cavity A of the loading actuator is in a flow mode, the cavity B of the loading actuator is in a pressure mode, oil flowing out of the one-way variable hydraulic pump flows into the cavity B of the loading actuator through the cartridge valve III, the oil flows out of the cavity A, the two-position two-way electromagnetic directional valve I is powered off at the moment, and the oil flows back to the oil tank through the electromagnetic directional valve I; the method comprises the steps of collecting a torque spectrum command and an angular velocity feedback signal of a loaded object, generating a command signal for decoupling the motion of the loaded object through a torque feedback signal differentiator and an angular velocity command calculation unit, generating a flow control signal by an angular velocity servo controller through the signal and the angular velocity feedback signal of a loading actuator based on a PID algorithm, controlling the pressure output by a proportional pressure reducing valve III so as to control the opening of a valve core of a cartridge valve I, further adjusting the flow of a cavity A of the loading actuator to realize the control of the angular velocity output by the loading actuator, generating a loading control signal through a loading controller by utilizing a torque sensor feedback signal and the torque spectrum command, controlling the pressure output by a proportional pressure reducing valve II so as to control the opening of the valve core of the cartridge valve III, further adjusting the pressure of the cavity B of the loading actuator, and realizing the control of the torque output.

When the loading device is in a working mode 2, a cavity A of the loading actuator is in a pressure mode, a cavity B of the loading actuator is in a flow mode, oil flowing out of the one-way variable hydraulic pump flows into a cavity B of the loading actuator through a cartridge valve III, the oil flows out of the cavity A, the two-position two-way electromagnetic directional valve I is electrified at the moment, the oil passing through the cartridge valve I and the oil output by the one-way variable hydraulic pump jointly flow into the cartridge valve III, the output flow of the one-way variable hydraulic pump is reduced, and therefore the purpose of energy-saving loading is achieved; the method comprises the steps of collecting a torque spectrum command and an angular velocity feedback signal of a loaded object, generating a command signal for decoupling the motion of the loaded object through a torque feedback signal differentiator and an angular velocity command calculation unit, generating a flow control signal by an angular velocity servo controller through the signal and the angular velocity feedback signal of a loading actuator based on a PID (proportion integration differentiation) algorithm, and controlling the pressure output by a proportional pressure reducing valve II so as to control the opening of a valve core of a cartridge valve III, further adjust the flow of a cavity B of the loading actuator and realize the control of the angular velocity output by the loading actuator. A loading control signal is generated through a loading controller by utilizing a torque sensor feedback signal and a torque spectrum instruction, and the pressure output by the proportional pressure reducing valve III is controlled, so that the opening of the valve core of the cartridge valve I is controlled, the pressure of the cavity A of the loading actuator is further adjusted, and the control of the output torque of the loading actuator is realized.

When the loading device is in a working mode 3, a cavity A of the loading actuator is in a pressure mode, a cavity B of the loading actuator is in a flow mode, oil flowing out of a one-way variable hydraulic pump flows into the cavity A of the loading actuator through a cartridge valve II, the oil flows out of the cavity B, at the moment, a two-position two-way electromagnetic directional valve II is powered off, the oil returns to a tank through a cartridge valve IV and a two-position two-way electromagnetic directional valve, a torque spectrum instruction and an angular velocity feedback signal of a loaded object are collected, an instruction signal for decoupling the motion of the loaded object is generated through a torque feedback signal differentiator and an angular velocity instruction calculating unit, an angular velocity servo controller generates a flow control signal based on a PID algorithm by using the signal and the angular velocity feedback signal of the loading actuator, the pressure output by a proportional pressure reducing valve IV is controlled, so as to control the valve core of the cartridge valve IV, further, the load control signal is generated through a load controller by utilizing a torque sensor feedback signal and a torque spectrum instruction, and the pressure output by the proportional pressure reducing valve I is controlled, so that the opening of the valve core of the cartridge valve II is controlled, the pressure of the cavity A of the load actuator is adjusted, and the control of the output torque of the load actuator is realized.

When the loading device is in a working mode 4, the cavity A of the loading actuator is in a flow mode, the cavity B of the loading actuator is in a pressure mode, oil flowing out of the one-way variable hydraulic pump flows into the cavity A of the loading actuator through the cartridge valve II, the oil flows out of the cavity B, the two-position two-way electromagnetic directional valve II is electrified at the moment, the oil passing through the cartridge valve IV and the oil output by the one-way variable hydraulic pump jointly flow into the cartridge valve II, the output flow of the one-way variable hydraulic pump is reduced, and therefore the purpose of energy-saving loading is achieved; the method comprises the steps of collecting a torque spectrum instruction and an angular velocity feedback signal of a loaded object, generating an instruction signal for decoupling the motion of the loaded object through a torque feedback signal differentiator and an angular velocity instruction calculation unit, generating a flow control signal by an angular velocity servo controller through the signal and the angular velocity feedback signal of a loading actuator based on a PID algorithm, controlling the pressure output by a proportional pressure reducing valve I, controlling the opening of a valve core of a cartridge valve II so as to adjust the flow of a cavity A of the loading actuator to realize the control of the angular velocity output by the loading actuator, generating a loading control signal through a loading controller by utilizing a torque sensor feedback signal and the torque spectrum instruction, controlling the pressure output by a proportional pressure reducing valve IV so as to control the opening of the valve core of the cartridge valve IV, further adjusting the pressure of a cavity B of the loading actuator, and realizing the control of the torque output.

Compared with the prior art, the invention has the following beneficial effects:

1) the invention solves the problem that the traditional load simulation system can not be used in the working conditions of large flow and large torque, such as the occasions with the loading technical requirements on a high-power hoister.

2) Under the reverse loading working condition (the loading direction is opposite to the movement direction of the loaded object), the energy-saving loading can be realized by controlling the two-position two-way electromagnetic directional valve, the energy utilization rate is improved, and the power consumption of the loading system is reduced.

3) The loading device disclosed by the invention is simple in structure and low in cost, realizes the cavity-divided coordination control on the flow and pressure states of the loading actuator, eliminates the forced flow caused by the active movement of the loaded object, and is good in redundant force inhibition effect and high in load simulation precision.

Drawings

FIG. 1 is a diagram of an operation mode of a flow pressure chamber coordination control load simulation system (a counterclockwise direction is defined as a positive direction);

FIG. 2 is a schematic diagram of the design of the present invention;

in the figure, 1-a loading actuator, 2-a tachometer, 3-a torque sensor, 4-a loading controller, 5-a proportional pressure reducing valve I, 6-a proportional pressure reducing valve II, 7-a proportional pressure reducing valve III, 8-a proportional pressure reducing valve IV, 9-a two-position two-way electromagnetic directional valve I, 10-a cartridge valve I, 11-a cartridge valve II, 12-a cartridge valve III, 13-a cartridge valve IV, 14-a two-position two-way electromagnetic directional valve II, 15-a pilot type relief valve, 16-a check valve, 17-a two-position two-way electromagnetic directional valve III, 18-a one-way variable hydraulic pump, 19-a tank, 20-a torque feedback signal differentiator, 21-a loading shaft axial rigidity proportioning unit, 22-an angular velocity instruction calculating unit, 23-a loaded object angle feedback signal differentiator, 24-an angular velocity servo controller, 25-an angular sensor, 26-a loaded object, 27-a proportional directional valve, 28 — loaded object controller.

Detailed Description

The invention will be further described with reference to fig. 1 and 2.

Example (b):

the working modes of the loading device can be divided into four modes according to the motion angle theta of the loaded object and the direction of the moment spectrum instruction T. It is specified that the movement direction θ and the direction of the load spectrum command T are positive in the counterclockwise direction as viewed from right to left with reference to the actuator (drum in fig. 1) to be loaded.

As shown in fig. 1, when the motion direction of the loaded object and the direction of the moment spectrum command are both positive, called as working mode 1, the cavity a of the loading actuator works in the flow mode, and the cavity B works in the pressure mode; when the motion direction of the loaded object is positive and the direction of the moment spectrum instruction is negative, the loading actuator is called as a working mode 2, the cavity A of the loading actuator works in a pressure mode, and the cavity B works in a flow mode; when the motion direction of the loaded object and the direction of the moment spectrum instruction are negative, the loading actuator is called as a working mode 3, the cavity A of the loading actuator works in a pressure mode, and the cavity B works in a flow mode; when the motion direction of the loaded object is negative and the direction of the moment spectrum command is positive, the working mode 4 is called, the A cavity of the loading actuator works in the flow mode, and the B cavity works in the pressure mode. The above description shows that the loading device must be in one of the four modes at any working moment, and the working mode of the two cavities of the loading actuator can also be determined.

As shown in figure 2, the high-power load simulation system based on the cartridge valve comprises a loading actuator 1, a tachometer 2, a torque sensor 3, a loading controller 4, a proportional pressure reducing valve I5, a proportional pressure reducing valve II 6, a proportional pressure reducing valve III 7, a proportional pressure reducing valve IV 8, a two-position two-way electromagnetic directional valve I9, a cartridge valve I10, a cartridge valve II 11, a cartridge valve III 12, a cartridge valve IV 13, a two-position two-way electromagnetic directional valve II 14, a one-way valve 16, a one-way variable hydraulic pump 18, an oil tank 19, a torque feedback signal differentiator 20, a loading shaft axial rigidity proportion unit 21, an angular speed instruction calculation unit 22, a loaded object angle feedback signal differentiator 23 and an angular speed servo controller 24, wherein the tachometer 2 and the torque sensor 3 are installed on an axial rod of the loading actuator 1, the output end of the torque sensor 3 is connected with the inverting end of the loading controller, the in-phase end of the loading controller 4 is connected with the in-phase end of an angular velocity instruction calculating unit 22 through a moment feedback signal differentiator 20 and a loading shaft axial stiffness proportion unit 21 which are connected in sequence, the in-phase end of the angular velocity instruction calculating unit 22 is connected with a loaded object angle feedback signal differentiator 23, the loaded object angle feedback signal differentiator 23 is connected with a loaded object system, and the loaded object system converts an angle into a digital signal through an angle sensor and inputs the digital signal into the loaded object angle feedback signal differentiator so as to achieve the purpose of controlling the speed of the loading actuator. The output end of the angular velocity command calculation unit 22 is connected with the in-phase end of the angular velocity servo controller 24; the cavity A of the loading actuator 1 is respectively connected with the oil port A of the cartridge valve I10 and the oil port B of the cartridge valve II 11, and the cavity B of the loading actuator 1 is respectively connected with the oil port B of the cartridge valve III 12 and the oil port A of the cartridge valve IV 13; oil ports A of the cartridge valve II 11 and the cartridge valve III 12 are connected with a pressure oil output end of a one-way variable hydraulic pump 18 through a one-way valve 16, an oil inlet end of the one-way variable hydraulic pump 18 is connected with an oil tank 19, oil ports B of the cartridge valve I10 and the cartridge valve IV 13 are respectively connected with the oil tank 19 through a two-position two-way electromagnetic directional valve I9 and a two-position two-way electromagnetic directional valve II 14, and ports X of the cartridge valve I10, the cartridge valve II 11, the cartridge valve III 12 and the cartridge valve IV 13 are respectively connected with a proportional pressure reducing valve I5, a proportional pressure reducing valve II 6, a proportional pressure reducing valve III 7 and a proportional pressure reducing valve. In order to control the pressure of the X port, the opening degree of the valve core of the cartridge valve is further controlled.

When the loading device is in a working mode 1 (forward loading), a cavity A of the loading actuator 1 is in a flow mode, a cavity B of the loading actuator 1 is in a pressure mode, oil flowing out of the unidirectional variable hydraulic pump 18 flows into the cavity B of the loading actuator 1 through the cartridge valve III 12, the oil flows out of the cavity A, at the moment, the two-position two-way electromagnetic directional valve I9 is powered off, and the oil flows back to an oil tank through the electromagnetic directional valve I9; collecting a torque spectrum command and an angular velocity feedback signal of a loaded object, generating a command signal for decoupling the motion of the loaded object through a torque feedback signal differentiator 20 and an angular velocity command calculation unit 22, generating a flow control signal by an angular velocity servo controller 24 by using the signal and the angular velocity feedback signal of the loading actuator 1 based on a PID algorithm, controlling the pressure output by a proportional pressure reducing valve III 7 so as to control the opening degree of a valve core of the cartridge valve I10, further adjusting the flow of the cavity A of the loading actuator 1, realizing the control of the angular velocity output by the loading actuator 1, utilizing the feedback signal of the torque sensor 3 and the torque spectrum instruction, the loading controller 4 generates a loading control signal to control the pressure output by the proportional pressure reducing valve II 6 so as to control the opening degree of the valve core of the cartridge valve III 12, and then the pressure of the cavity B of the loading actuator 1 is adjusted, and the control of the output torque of the loading actuator is realized.

When the loading device is in operating mode 2 (reverse load), the loading actuator 1 is in pressure mode with chamber a and flow mode with chamber B. The oil flowing out of the unidirectional variable hydraulic pump 18 flows into the cavity B of the loading actuator 1 through the cartridge valve III 12, the oil flows out of the cavity A, the two-position two-way electromagnetic directional valve I9 is electrified at the moment, the oil passing through the cartridge valve I10 and the oil output by the unidirectional variable hydraulic pump 18 flow into the cartridge valve III 12 together, the output flow of the unidirectional variable hydraulic pump 18 is reduced, and therefore the purpose of energy-saving loading is achieved. The moment spectrum instruction and the loaded object angular velocity feedback signal are collected, an instruction signal for decoupling the motion of the loaded object is generated through a moment feedback signal differentiator 20 and an angular velocity instruction calculating unit 22, an angular velocity servo controller 24 generates a flow control signal by using the signal and the angular velocity feedback signal of the loading actuator 1 based on a PID algorithm, and controls the pressure output by a direct-acting proportional pressure reducing valve II 6, so that the opening degree of a valve core of a cartridge valve III 12 is controlled, the flow of a cavity B of the loading actuator 1 is adjusted, and the control of the angular velocity output by the loading actuator 1 is realized. The torque sensor 3 is used for feeding back a signal and a torque spectrum instruction, a loading control signal is generated through the loading controller 4, and the pressure output by the direct-acting type proportional pressure reducing valve III 7 is controlled, so that the opening of the valve core of the cartridge valve I10 is controlled, the pressure of the cavity A of the loading actuator 1 is adjusted, and the control of the output torque of the loading actuator is realized.

When the loading device is in working mode 3 (down load), the loading actuator 1 is in pressure mode with chamber a and flow mode with chamber B. The oil flowing out of the one-way variable hydraulic pump 18 flows into the cavity A of the loading actuator 1 through the cartridge valve II 11, the oil flows out of the cavity B, at the moment, the two-position two-way electromagnetic directional valve II 14 is powered off, and the oil returns to the oil tank through the cartridge valve IV 13 and the two-position two-way electromagnetic directional valve 14. The moment spectrum instruction and the loaded object angular velocity feedback signal are collected, an instruction signal for decoupling the motion of the loaded object is generated through a moment feedback signal differentiator 20 and an angular velocity instruction calculating unit 22, an angular velocity servo controller 24 generates a flow control signal by using the signal and the angular velocity feedback signal of the loading actuator 1 based on a PID algorithm, and controls the pressure output by a direct-acting proportional pressure reducing valve IV 8, so that the opening degree of a valve core of an insert valve IV 13 is controlled, the flow of a cavity B of the loading actuator 1 is adjusted, and the control of the output angular velocity of the loading actuator is realized. The load control signal is generated by the load controller 4 by utilizing the feedback signal and the torque spectrum instruction of the torque sensor 3, and the pressure output by the direct-acting proportional pressure reducing valve I5 is controlled, so that the opening of the valve core of the cartridge valve II 11 is controlled, the pressure of the cavity A of the load actuator 1 is further adjusted, and the control of the output torque of the load actuator is realized.

When the loading device is in a working mode 4 (reverse load), the cavity A of the loading actuator 1 is in a flow mode, the cavity B is in a pressure mode, oil flowing out of the unidirectional variable hydraulic pump 18 flows into the cavity A of the loading actuator 1 through the cartridge valve II 11, the oil flows out of the cavity B, the two-position two-way electromagnetic directional valve II 14 is electrified at the moment, the oil passing through the cartridge valve IV 13 and the oil output by the unidirectional variable hydraulic pump 18 flow into the cartridge valve II 11 together, the output flow of the unidirectional variable hydraulic pump 18 is reduced, and therefore the purpose of energy-saving loading is achieved; collecting a torque spectrum command and an angular velocity feedback signal of a loaded object, generating a command signal for decoupling the motion of the loaded object through a torque feedback signal differentiator 20 and an angular velocity command calculation unit 22, generating a flow control signal by an angular velocity servo controller 24 by using the signal and the angular velocity feedback signal of the loading actuator 1 based on a PID algorithm, controlling the pressure output by a proportional pressure reducing valve I5 so as to control the opening degree of a valve core of a cartridge valve II 11, further adjusting the flow of the cavity A of the loading actuator 1, realizing the control of the angular velocity output by the loading actuator, feeding back signals and moment spectrum instructions by using the moment sensor 3, the loading controller 4 generates a loading control signal to control the pressure output by the proportional pressure reducing valve IV 8 so as to control the opening degree of a valve core of the cartridge valve IV 13, and then the pressure of the cavity B of the loading actuator 1 is adjusted, and the control of the output torque of the loading actuator is realized.

The loading actuator 1 of the loading device can be a hydraulic motor, and can also be an asymmetric single-rod hydraulic cylinder, a symmetric double-rod hydraulic cylinder and a limited swing angle hydraulic swing cylinder.

The proportional pressure reducing valve can be a direct-acting proportional pressure reducing valve or a pilot-operated proportional pressure reducing valve.

In the angular velocity closed-loop control loop, an angular velocity feedback signal of a loading actuator is generated by an angle sensor plus a differentiator and a filter to replace a loading actuator tachometer.