CN106769125B - A kind of test method obtaining the dynamic characteristic from loading moment to feedback potentiometer - Google Patents
A kind of test method obtaining the dynamic characteristic from loading moment to feedback potentiometer Download PDFInfo
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- CN106769125B CN106769125B CN201611044783.9A CN201611044783A CN106769125B CN 106769125 B CN106769125 B CN 106769125B CN 201611044783 A CN201611044783 A CN 201611044783A CN 106769125 B CN106769125 B CN 106769125B
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- dynamic characteristic
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- loading moment
- hydraulic sterring
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
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Abstract
The invention discloses a kind of test methods of dynamic characteristic of acquisition from loading moment to feedback potentiometer, specific steps are as follows: establish the test macro for obtaining hydraulic sterring engine dynamic characteristic, comprising: loading moment emulation module, hydraulic sterring engine module and dynamic characteristic determining module；Loading moment emulation module applies torque to hydraulic sterring engine module；Hydraulic sterring engine module tracks rudder zero instructs；Dynamic characteristic determining module calculates torque to the dynamic characteristic of feedback potentiometer.The present invention can effectively obtain hydraulic sterring engine dynamic characteristic, fill up the blank of previous test method, its outstanding feature is by carrying out data processing to application loading moment and feedback potentiometer, and then obtain the dynamic characteristic of hydraulic sterring engine, it can effectively solve the problems, such as the resonance frequency of the available hydraulic sterring engine of no test method, provide important support for hydraulic sterring engine model design and verification.It is also possible to apply the invention in other steering engine product designs with dynamic characteristic test demand.
Description
Technical field
The present invention relates to a kind of test methods for obtaining hydraulic sterring engine dynamic characteristic, especially a kind of to obtain from loading moment
To the test method of the dynamic characteristic of feedback potentiometer.
Background technique
The dynamic characteristic of hydraulic sterring engine refers to the transmission characteristic under different frequency from loading moment to feedback potentiometer.Engineering
In the dynamic of rudder system (including steering engine and rudder face) is generally characterized from transmission characteristic of the instruction to feedback potentiometer by test
Characteristic, this method can not obtain the resonance frequency of hydraulic sterring engine due to the dead zone of hydraulic sterring engine and rudder speed saturation etc..
Summary of the invention
It is an object of that present invention to provide a kind of test method of dynamic characteristic of the acquisition from loading moment to feedback potentiometer,
Solve the problems, such as that previous test method can not obtain the resonance frequency of hydraulic sterring engine.
A kind of specific steps for the test method obtaining the dynamic characteristic from loading moment to feedback potentiometer are as follows:
The first step establishes the test macro for obtaining hydraulic sterring engine dynamic characteristic
Obtain hydraulic sterring engine dynamic characteristic test macro, comprising: loading moment emulation module, hydraulic sterring engine module and
Dynamic characteristic determining module.It is described,
The function of loading moment emulation module is: completing the output of setpoint frequency and the loading moment being sized；
The function of hydraulic sterring engine module is: bearing loading moment, while according to the completion pair of the feedback of itself feedback potentiometer
The tracking of rudder instruction；
The function of dynamic characteristic determining module is: hydraulic sterring engine is determined after handling loading moment and feedback potentiometer
Dynamic characteristic.
Second step loading moment emulation module applies torque to hydraulic sterring engine module
Loading moment emulation module is connected by switching tooling with hydraulic sterring engine module.Loading moment emulation module
Torque command is received, for the size of torque command no more than hydraulic sterring engine maximum load torque, the frequency of torque command is F, F
For arbitrary value.Loading moment simulator completes the output to torque command by the torque sensor feedback of itself, finally by
Switching tooling passes torque to steering engine module.
Third step hydraulic sterring engine module tracks rudder zero instructs
Hydraulic sterring engine module bears the torque applied from loading moment emulation module, while according to the feedback of itself electricity
Position meter feedback completes the tracking to zero instruction.
4th step dynamic characteristic determining module calculates torque to the dynamic characteristic of feedback potentiometer
The feedback electricity of torque and the output of hydraulic sterring engine module that dynamic characteristic determining module exports torque emulation module
Position counts carry out Fast Fourier Transform (FFT), obtains applying amplitude and phase when frequency F, according to torque and feedback potentiometer width
The dynamic characteristic of value and phase calculation torque to feedback potentiometer:
Wherein:For apply frequency F when torque to feedback potentiometer amplitude,Torque when to apply frequency F
To the phase of feedback potentiometer,For torque application frequency F when amplitude,For the application of feedback potentiometer
Amplitude when frequency F,For torque application frequency F when phase,For the application frequency F of feedback potentiometer
Shi Xiangwei；
So far, it is determined that the test of the dynamic characteristic from loading moment to feedback potentiometer.
The present invention can effectively obtain hydraulic sterring engine dynamic characteristic, fill up the blank of previous test method, outstanding feature
It is and then to obtain the dynamic characteristic of hydraulic sterring engine by carrying out data processing to applying loading moment and feedback potentiometer, it can be with
It effectively solves the problems, such as the resonance frequency of the available hydraulic sterring engine of no test method, is hydraulic sterring engine model design and verification
Important support is provided.It is also possible to apply the invention in other steering engine product designs with dynamic characteristic test demand.
Specific embodiment
A kind of specific steps for the test method obtaining the dynamic characteristic from loading moment to feedback potentiometer are as follows:
The first step establishes the test macro for obtaining hydraulic sterring engine dynamic characteristic
Obtain hydraulic sterring engine dynamic characteristic test macro, comprising: loading moment emulation module, hydraulic sterring engine module and
Dynamic characteristic determining module.It is described,
The function of loading moment emulation module is: completing the output of setpoint frequency and the loading moment being sized；
The function of hydraulic sterring engine module is: bearing loading moment, while according to the completion pair of the feedback of itself feedback potentiometer
The tracking of rudder instruction；
The function of dynamic characteristic determining module is: hydraulic sterring engine is determined after handling loading moment and feedback potentiometer
Dynamic characteristic.
Second step loading moment emulation module applies torque to hydraulic sterring engine module
Loading moment emulation module is connected by switching tooling with hydraulic sterring engine module.Loading moment emulation module
Torque command is received, for the size of torque command no more than hydraulic sterring engine maximum load torque, the frequency of torque command is F, F
For arbitrary value.Loading moment simulator completes the output to torque command by the torque sensor feedback of itself, finally by
Switching tooling passes torque to steering engine module.
Third step hydraulic sterring engine module tracks rudder zero instructs
Hydraulic sterring engine module bears the torque applied from loading moment emulation module, while according to the feedback of itself electricity
Position meter feedback completes the tracking to zero instruction.
Step 4: dynamic characteristic determining module calculates torque to the dynamic characteristic of feedback potentiometer
The feedback electricity of torque and the output of hydraulic sterring engine module that dynamic characteristic determining module exports torque emulation module
Position counts carry out Fast Fourier Transform (FFT), obtains applying amplitude and phase when frequency F, according to torque and feedback potentiometer width
The dynamic characteristic of value and phase calculation torque to feedback potentiometer:
Wherein:For apply frequency F when torque to feedback potentiometer amplitude,Torque when to apply frequency F
To the phase of feedback potentiometer,For torque application frequency F when amplitude,For the application of feedback potentiometer
Amplitude when frequency F,For torque application frequency F when phase,For the application frequency F of feedback potentiometer
Shi Xiangwei；
So far, it is determined that obtain the test of the dynamic characteristic from loading moment to feedback potentiometer.
Claims (1)
1. a kind of test method of dynamic characteristic of acquisition from loading moment to feedback potentiometer, it is characterised in that specific steps
Are as follows:
The first step establishes the test macro for obtaining hydraulic sterring engine module dynamic characteristic
Obtain hydraulic sterring engine module dynamic characteristic test macro, comprising: loading moment emulation module, hydraulic sterring engine module and
Dynamic characteristic determining module；It is described
The function of loading moment emulation module is: completing the output of setpoint frequency and the loading moment being sized；
The function of hydraulic sterring engine module is: bearing loading moment, while being referred to according to the completion of the feedback of itself feedback potentiometer to rudder
The tracking of order；
The function of dynamic characteristic determining module is: hydraulic sterring engine module is determined after handling loading moment and feedback potentiometer
Dynamic characteristic；
Second step loading moment emulation module applies torque to hydraulic sterring engine module
Loading moment emulation module is connected by switching tooling with hydraulic sterring engine module；Loading moment emulation module receives
Torque command, the size of torque command is no more than hydraulic sterring engine module maximum load torque, and the frequency of torque command is F, and F is
Arbitrary value；Loading moment emulation module completes the output to torque command by the torque sensor feedback of itself, finally leads to
It crosses switching tooling and passes torque to hydraulic sterring engine module；
Third step hydraulic sterring engine module tracks rudder zero instructs
Hydraulic sterring engine module bears the torque applied from loading moment emulation module, while according to the feedback potentiometer of itself
Feedback completes the tracking to zero instruction；
4th step dynamic characteristic determining module calculates torque to the dynamic characteristic of feedback potentiometer
The feedback electricity of torque and the output of hydraulic sterring engine module that dynamic characteristic determining module exports loading moment emulation module
Position counts carry out Fast Fourier Transform (FFT), obtains applying amplitude and phase when frequency F, according to torque and feedback potentiometer width
The dynamic characteristic of value and phase calculation torque to feedback potentiometer:
Wherein: Gm_db is that for torque to the amplitude of feedback potentiometer, Pm is that torque is electric to feedback when applying frequency F when applying frequency F
The phase of position meter, amplitude when mag_M is the application frequency F of torque, mag_UfFor feedback potentiometer application frequency F when amplitude,
Phase when phase_M is the application frequency F of torque, phase_UfFor feedback potentiometer application frequency F when phase；
So far, it is determined that obtain the test of the dynamic characteristic from loading moment to feedback potentiometer.
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| CN201611044783.9A CN106769125B (en) | 2016-11-24 | 2016-11-24 | A kind of test method obtaining the dynamic characteristic from loading moment to feedback potentiometer |
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| CN201611044783.9A CN106769125B (en) | 2016-11-24 | 2016-11-24 | A kind of test method obtaining the dynamic characteristic from loading moment to feedback potentiometer |
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| CN106769125A CN106769125A (en) | 2017-05-31 |
| CN106769125B true CN106769125B (en) | 2019-02-22 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110027613A (en) * | 2009-09-08 | 2011-03-16 | 주식회사 누리텍 | Performance diagnosis and apparatus for hydraulic serve valve |
| CN103048924A (en) * | 2012-12-28 | 2013-04-17 | 大连海事大学 | Testing and simulating system for automatic vessel rudder |
| CN103499444A (en) * | 2013-10-24 | 2014-01-08 | 北京航空航天大学 | Actuator performance tester |
| CN105159076A (en) * | 2015-08-24 | 2015-12-16 | 南京理工大学 | Fusion type adaptive robust-based electro-hydraulic load simulator force control method |
| CN105956325A (en) * | 2016-05-24 | 2016-09-21 | 北京航空航天大学 | Dynamic speed synchronous control method for redundant force of electro-hydraulic load simulator |
| CN106015175A (en) * | 2016-07-31 | 2016-10-12 | 大连宏远气动液压船舶辅机有限公司 | Hydraulic steering gear simulation detecting test-bed device |
-
2016
- 2016-11-24 CN CN201611044783.9A patent/CN106769125B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110027613A (en) * | 2009-09-08 | 2011-03-16 | 주식회사 누리텍 | Performance diagnosis and apparatus for hydraulic serve valve |
| CN103048924A (en) * | 2012-12-28 | 2013-04-17 | 大连海事大学 | Testing and simulating system for automatic vessel rudder |
| CN103499444A (en) * | 2013-10-24 | 2014-01-08 | 北京航空航天大学 | Actuator performance tester |
| CN105159076A (en) * | 2015-08-24 | 2015-12-16 | 南京理工大学 | Fusion type adaptive robust-based electro-hydraulic load simulator force control method |
| CN105956325A (en) * | 2016-05-24 | 2016-09-21 | 北京航空航天大学 | Dynamic speed synchronous control method for redundant force of electro-hydraulic load simulator |
| CN106015175A (en) * | 2016-07-31 | 2016-10-12 | 大连宏远气动液压船舶辅机有限公司 | Hydraulic steering gear simulation detecting test-bed device |
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