CN109580220B - System and method for testing fatigue performance of two-axis pneumatic AMT (automated mechanical transmission) actuating mechanism - Google Patents
System and method for testing fatigue performance of two-axis pneumatic AMT (automated mechanical transmission) actuating mechanism Download PDFInfo
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- CN109580220B CN109580220B CN201811481104.3A CN201811481104A CN109580220B CN 109580220 B CN109580220 B CN 109580220B CN 201811481104 A CN201811481104 A CN 201811481104A CN 109580220 B CN109580220 B CN 109580220B
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
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Abstract
The invention relates to a transmission control testing technology, and provides a fatigue performance testing system and a fatigue performance testing method for a two-axis pneumatic AMT actuator, aiming at the defect that the prior art lacks a fatigue performance testing device for the two-axis pneumatic AMT actuator. The test system comprises an upper computer, a data acquisition card electrically connected with the upper computer, and an electromagnetic valve group and a displacement sensor group which are respectively and electrically connected with the data acquisition card; the upper computer controls the on-off of the electromagnetic valve group through controlling the data acquisition card, so as to realize the gear engaging and disengaging of the first shaft and/or the second shaft; the upper computer judges whether the gear engaging and disengaging actions of the first shaft and the second shaft are successful or not according to the position information of the shifting head acquired by the displacement sensor group transmitted by the data acquisition card.
Description
Technical Field
The invention relates to a transmission control testing technology, in particular to a system and a method for testing fatigue performance of a two-axis pneumatic AMT actuating mechanism.
Background
With the development of automobile transmission technology, AMT transmissions are increasingly used. In order to ensure the working reliability of the AMT transmission, a durable fatigue performance test is usually carried out on the AMT gear selecting and shifting operation mechanism.
The existing two-shaft pneumatic AMT actuating mechanism comprises two gear engaging shafts (a first shaft and a second shaft), and each gear engaging shaft corresponds to one shifting head and a cylinder for driving the shifting heads. Because the existing pneumatic AMT actuating mechanism is used as a new product developed by new energy sources, no available testing device is available for testing the fatigue performance of the pneumatic AMT actuating mechanism. Therefore, it is needed to design a testing device for fatigue performance of pneumatic AMT actuators to facilitate the design verification of AMT actuators.
Disclosure of Invention
The invention aims to provide a fatigue performance testing system and a fatigue performance testing method for a two-axis pneumatic AMT actuator, aiming at the defect that the prior art lacks a fatigue performance testing device for the two-axis pneumatic AMT actuator.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows: the fatigue performance testing system of the two-axis pneumatic AMT actuating mechanism is characterized by comprising an upper computer, a data acquisition card electrically connected with the upper computer, and an electromagnetic valve group and a displacement sensor group which are respectively and electrically connected with the data acquisition card; the upper computer controls the on-off of the electromagnetic valve group through controlling the data acquisition card, so as to realize the gear engaging and disengaging of the first shaft and/or the second shaft; the upper computer judges whether the gear engaging and disengaging actions of the first shaft and the second shaft are successful or not according to the position information of the shifting head acquired by the displacement sensor group transmitted by the data acquisition card.
Further, the electromagnetic valve group comprises a first electromagnetic valve group and a second electromagnetic valve group; the first electromagnetic valve group comprises a first electromagnetic valve and a second electromagnetic valve and is used for controlling one shaft to be hung with 1 gear, taken off 1 gear, hung with 2 gear and taken off 2 gear; the second electromagnetic valve group comprises a third electromagnetic valve and a fourth electromagnetic valve and is used for controlling the two shafts to be in 3 gears, 3 gears and 4 gears, and 4 gears.
Further, the displacement sensor group comprises a first displacement sensor and a second displacement sensor; the first displacement sensor is used for detecting the position information of the one-axis shifting head, and the second displacement sensor is used for detecting the position information of the two-axis shifting head.
Further, the data acquisition card is electrically connected with the electromagnetic valve group through the intermediate relay group; the intermediate relay group comprises a first intermediate relay, a second intermediate relay, a third intermediate relay and a fourth intermediate relay, and the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the fourth electromagnetic valve are respectively corresponding to the intermediate relay group. The driving capability can be effectively improved through the intermediate relay.
Further, the data acquisition card adopts an NI PCI-6221 board card.
In addition, the invention also provides a testing method based on the fatigue performance testing system of the biaxial pneumatic AMT actuator, which is characterized in that the upper computer controls the first shaft and/or the second shaft to circularly engage gears for testing according to the following steps;
the testing steps of the cyclic gear engagement of the shaft are as follows:
1.11 gear is engaged;
1.2 Judging whether the 1 st gear is successfully engaged or not;
if successful, enter 1.5), the 1 st gear count is increased by 1;
if the step fails, the 1 st gear failure count is increased by 1, the 1 st gear is re-engaged, and the step 1.3 is entered
1.3 Judging whether the 1 st gear is successfully engaged or not;
if the 1 st gear is successfully engaged, the 1 st gear is engaged, the failure count is cleared, and 1.5 is entered;
if the failure happens, the 1 st gear failure count is increased by 1 (accumulated count),
judging whether the failure count of the 1 st gear is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-engaging 1 gear, and entering step 1.4);
1.4 Repeating step 1.3)
1.5 After n seconds of residence, entering the step 1.6), wherein n is more than or equal to 1;
1.6 Picking up 1 gear;
1.7 Judging whether the 1 st gear is successful or not;
if successful, 1.10) is entered, the 1 st gear is taken and the 1 st gear count is increased by 1;
if the failure happens, the 1 st gear failure count is increased by 1, the 1 st gear is re-picked, and the step 1.8 is entered
1.8 Judging whether the 1 st gear is successful or not;
if the 1 st gear is successfully picked, the 1 st gear is added with 1, the 1 st gear is picked, the failure count is cleared, and 1.10 is entered;
if the failure happens, the 1 st shift failure count is increased by 1 (accumulated count),
judging whether the 1 st gear failure count is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-picking 1 gear, and entering step 1.9);
1.9 Repeating step 1.8)
1.10 After n seconds of residence, entering the step 1.11), wherein n is more than or equal to 1;
1.11 2 gear is hung;
1.12 Judging whether the 2 nd gear is successfully engaged or not;
if successful, enter 1.15), the 2 nd gear is hung to count up by 1;
if the gear fails, the gear 2 failure count is increased by 1, the gear 2 is re-engaged, and the step 1.13 is entered
1.13 Judging whether the 2 nd gear is successfully engaged or not;
if the gear 2 is successfully engaged, adding 1, resetting the gear 2 failure count, and entering 1.15);
if the gear-down failure count is increased by 1 (accumulated count),
judging whether the failure count of 2 nd gear is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-engaging 2 steps, and entering step 1.14);
1.14 Repeating step 1.13)
1.15 After n seconds of residence, entering the step 1.16), wherein n is more than or equal to 1;
1.16 2 gear is picked up;
1.17 Judging whether the 2 nd gear picking is successful or not;
if successful, 1.20) is entered, the pick 2 count is increased by 1;
if the step fails, the failure count of 2 nd gear removal is increased by 1, 2 nd gear removal is performed again, and the step 1.18 is performed
1.18 Judging whether the 2 nd gear picking is successful or not;
if the 2 nd gear is successfully picked, the 1 st gear is added, the 2 nd gear is picked, the 2 nd gear is failed, the count is cleared, and 1.20 is entered);
if the shift 2 fails, the off-shift 2 failure count is increased by 1 (accumulated count),
judging whether the 2 nd gear failure count is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, 2 steps are picked again, and the step 1.19 is carried out;
1.19 Repeating step 1.18)
1.20 After n seconds of residence, entering the step 1.1), wherein n is more than or equal to 1;
the test steps of the biaxial cyclic gear are as follows:
2.13 gear is hung;
2.2 Judging whether the 3 rd gear is successful or not;
if successful, enter 2.5), the 3 rd gear count is increased by 1;
if the step fails, the failure count of 3 gears is increased by 1, 3 gears are re-hung, and the step 2.3 is entered
2.3 Judging whether the 3 rd gear is successful or not;
if the 3 rd gear is successfully put, the 3 rd gear is put up by 1, the 3 rd gear failure is put down, and the method enters 2.5);
if the shift-3 fails, the shift-3 failure count is increased by 1 (accumulated count),
judging whether the 3 rd gear failure count is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-engaging 3 rd gear, and entering step 2.4);
2.4 Repeating step 2.3)
2.5 After n seconds of residence, enter step 2.6), n is greater than or equal to 1;
2.6 Picking up 3 gears;
2.7 Judging whether 3 shift picking is successful or not;
if successful, enter 2.10), pick 3 and keep the count to add 1;
if the step fails, the 3 rd gear failure count is increased by 1, the 3 rd gear is re-picked, and the step 2.8 is entered
2.8 Judging whether 3 shift picking is successful or not;
if the 3 rd gear is successfully picked, the 1 st gear is added, the 3 rd gear is picked, the 3 rd gear is failed, the count is cleared, and the 2.10 th gear is entered;
if the shift 3 fails, the off-shift 3 failure count is increased by 1 (accumulated count),
judging whether the 3 rd gear failure count is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, 3 steps are picked again, and step 2.9 is carried out;
2.9 Repeating step 2.8)
2.10 After n seconds of residence, enter step 2.11), n is greater than or equal to 1;
2.11 4 gear is hung;
2.12 Judging whether the 4 th gear is successfully engaged or not;
if successful, enter 2.15), the count of the 4 th gear is increased by 1;
if the step fails, the failure count of the 4 gears is increased by 1, the 4 gears are re-hung, and the step 2.13 is entered
2.13 Judging whether the 4 th gear is successfully engaged or not;
if the 4-gear count is successfully put up, 1 is added, the 4-gear failure count is cleared, and 2.15 is entered;
if the gear-down failure count is increased by 1 (accumulated count) if the gear-down failure count is failed,
judging whether the failure count of the 4 th gear is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-engaging 4 th gear, and entering step 2.14);
2.14 Repeating step 2.13)
2.15 After n seconds of stay, enter step 2.16), n is greater than or equal to 1;
2.16 Picking up 4 th gear;
2.17 Judging whether the 4 th gear is successfully picked or not;
if successful, enter 2.20), pick 4 and count up 1;
if the step fails, the failure count of the 4 th gear is increased by 1, the 4 th gear is re-picked, and the step 2.18 is entered
2.18 Judging whether the 4 th gear is successfully picked or not;
if the 4 th gear is successfully picked, the 1 th gear is added, the 4 th gear is picked, the failure count is cleared, and the 2.20 th gear is picked;
if the number of failures is not equal to the number of the failures in the 4 th gear, the number of the failures is increased by 1 (accumulated count),
judging whether the failure count of the 4 th gear is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-picking 4 steps and entering step 2.19);
2.19 Repeating step 2.18)
2.20 After n seconds of residence, enter step 2.1), n is greater than or equal to 1.
Further, the set threshold value in the above steps 1.3), 1.8), 1.13), 1.18), and steps 2.3), 2.8), 2.13), 2.18) is 50 to 100.
The invention has the advantages that:
the test system and the test method provided by the invention can effectively realize the test of the fatigue performance of the two-axis pneumatic AMT actuator, collect the times of gear shifting of the first axis and the second axis, and realize the automatic alarm function when the times of gear shifting or gear shifting actions of the actuator which cannot be in place continuously exceed a set threshold value due to the clamping stagnation caused by the fatigue damage of the actuator; the system has the advantages of simple structure, flexible control and the like.
Drawings
FIG. 1 is a schematic diagram of a test system according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples.
As shown in fig. 1, the embodiment provides a fatigue performance testing system for a two-axis pneumatic AMT actuator, which comprises an upper computer, a data acquisition card electrically connected with the upper computer, an electromagnetic valve group electrically connected with the data acquisition card through an intermediate relay group, and a displacement sensor group electrically connected with the data acquisition card.
The data acquisition card adopts an NI PCI-6221 board card, namely PCI-6221 multifunctional I/O equipment, the equipment comprises 24 paths of digital input/output ports and 16 paths of analog input ports, the maximum sampling rate reaches 250KS/s, and the analog input resolution reaches 16bits, so that the control system built based on the I/O equipment has high control precision and high reliability. The digital output high level of the NI PCI-6221 board card is 5V, the driving capability is limited, and four electromagnetic valves of the actuating mechanism cannot be directly driven, so that an intermediate relay group is added between the digital output of the NI PCI-6221 board card and the electromagnetic valves of the actuating mechanism. The intermediate relay group comprises a first intermediate relay, a second intermediate relay, a third intermediate relay and a fourth intermediate relay.
The electromagnetic valve group comprises a first electromagnetic valve group and a second electromagnetic valve group; the first electromagnetic valve group comprises a first electromagnetic valve and a second electromagnetic valve, and the second electromagnetic valve group comprises a third electromagnetic valve and a fourth electromagnetic valve; the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the fourth electromagnetic valve are respectively and correspondingly connected with the first intermediate relay, the second intermediate relay, the third intermediate relay and the fourth intermediate relay in an electric mode. The first electromagnetic valve group is used for controlling a shaft to be hung with 1 gear, 2 gear, 1 gear and 2 gear; the second electromagnetic valve group is used for controlling the two shafts to be hung with 3 gears, hung with 4 gears, picked with 3 gears and picked with 4 gears.
The displacement sensor group comprises a first displacement sensor and a second displacement sensor; the first displacement sensor is used for detecting the position information of the one-axis shifting head, and the second displacement sensor is used for detecting the position information of the two-axis shifting head.
The upper computer controls the on-off of the electromagnetic valve group by controlling the states of the digital output ends P0.0, P0.1, P0.2 and P0.3 of the data acquisition card, so as to realize the gear engaging and disengaging of the first shaft and/or the second shaft.
Different state combinations of P0.0, P0.1, P0.2 and P0.3 correspond to different actions of the biaxial pneumatic AMT actuator; specifically, the first electromagnetic valve is electrified to control the cylinder to stretch and retract to drive a shaft to be hung on a gear 1; the second electromagnetic valve is electrified to control the cylinder to stretch and retract to drive a shaft to be hung with 2 gears; the first electromagnetic valve and the second electromagnetic valve are simultaneously electrified, one shaft is shifted to the 1 st gear or the 2 nd gear, and the gear returns to the neutral gear position.
The third electromagnetic valve is electrified to control the cylinder to stretch and retract to drive the two shafts to be hung on 3 gears; the fourth electromagnetic valve is electrified to control the cylinder to stretch and retract to drive the two shafts to be hung with 4 gears; the third electromagnetic valve and the fourth electromagnetic valve are simultaneously electrified, and the two shafts are shifted to 3 or 4 gears and return to the neutral gear position.
The upper computer judges whether the gear engaging and disengaging actions of the first shaft and the second shaft are successful or not according to the position information of the shifting head acquired by the displacement sensor group transmitted by the data acquisition card. When the actuating mechanism shifting head is positioned at different positions, the voltage output by the displacement sensor is linearly changed from 0V to 5V, the voltage output by the first displacement sensor and the second displacement sensor is connected to the analog input ends AI0 and AI1 of the NI PCI-6221 board card, and the upper computer can judge the current position of the actuating mechanism shifting head through the collected voltage value.
The control program of the upper computer is developed based on a LabVIEW software platform of NI company. LabVIEW is an industry-leading industry-standard graphical programming tool, and is mainly used for developing test, measurement and control systems. By using the virtual instrument technology of NI, complex data acquisition and processing work can be simplified.
When the control system runs a program, one axis realizes the following test process:
1.11 gear is engaged;
1.2 Judging whether the 1 st gear is successfully engaged or not;
if successful, enter 1.5), the 1 st gear count is increased by 1;
if the step fails, the 1 st gear failure count is increased by 1, the 1 st gear is re-engaged, and the step 1.3 is entered
1.3 Judging whether the 1 st gear is successfully engaged or not;
if the 1 st gear is successfully engaged, the 1 st gear is engaged, the failure count is cleared, and 1.5 is entered;
if the failure happens, the 1 st gear failure count is increased by 1 (accumulated count),
judging whether the failure count of the 1 st gear is larger than a set threshold value, setting the threshold value as 100,
if yes, the system alarms and stops working;
if not, re-engaging 1 gear, and entering step 1.4);
1.4 Repeating step 1.3)
1.5 After 1 second of residence, go to step 1.6);
1.6 Picking up 1 gear;
1.7 Judging whether the 1 st gear is successful or not;
if successful, 1.10) is entered, the 1 st gear is taken and the 1 st gear count is increased by 1;
if the failure happens, the 1 st gear failure count is increased by 1, the 1 st gear is re-picked, and the step 1.8 is entered
1.8 Judging whether the 1 st gear is successful or not;
if the 1 st gear is successfully picked, the 1 st gear is added with 1, the 1 st gear is picked, the failure count is cleared, and 1.10 is entered;
if the failure happens, the 1 st shift failure count is increased by 1 (accumulated count),
judging whether the 1 st gear failure count is larger than a set threshold value, setting the threshold value as 100,
if yes, the system alarms and stops working;
if not, re-picking 1 gear, and entering step 1.9);
1.9 Repeating step 1.8)
1.10 After 1 second of residence, go to step 1.11);
1.11 2 gear is hung;
1.12 Judging whether the 2 nd gear is successfully engaged or not;
if successful, enter 1.15), the 2 nd gear is hung to count up by 1;
if the gear fails, the gear 2 failure count is increased by 1, the gear 2 is re-engaged, and the step 1.13 is entered
1.13 Judging whether the 2 nd gear is successfully engaged or not;
if the gear 2 is successfully engaged, adding 1, resetting the gear 2 failure count, and entering 1.15);
if the gear-down failure count is increased by 1 (accumulated count),
judging whether the failure count of 2 gears is larger than a set threshold value, setting the threshold value as 100,
if yes, the system alarms and stops working;
if not, re-engaging 2 steps, and entering step 1.14);
1.14 Repeating step 1.13)
1.15 After 1 second of residence, go to step 1.16);
1.16 2 gear is picked up;
1.17 Judging whether the 2 nd gear picking is successful or not;
if successful, 1.20) is entered, the pick 2 count is increased by 1;
if the step fails, the failure count of 2 nd gear removal is increased by 1, 2 nd gear removal is performed again, and the step 1.18 is performed
1.18 Judging whether the 2 nd gear picking is successful or not;
if the 2 nd gear is successfully picked, the 1 st gear is added, the 2 nd gear is picked, the 2 nd gear is failed, the count is cleared, and 1.20 is entered);
if the shift 2 fails, the off-shift 2 failure count is increased by 1 (accumulated count),
judging whether the 2 nd gear failure count is larger than a set threshold value, setting the threshold value as 100,
if yes, the system alarms and stops working;
if not, 2 steps are picked again, and the step 1.19 is carried out;
1.19 Repeating step 1.18)
1.20 After 1 second of residence, go to step 1.1);
the two axes realize the following test procedures:
2.13 gear is hung;
2.2 Judging whether the 3 rd gear is successful or not;
if successful, enter 2.5), the 3 rd gear count is increased by 1;
if the step fails, the failure count of 3 gears is increased by 1, 3 gears are re-hung, and the step 2.3 is entered
2.3 Judging whether the 3 rd gear is successful or not;
if the 3 rd gear is successfully put, the 3 rd gear is put up by 1, the 3 rd gear failure is put down, and the method enters 2.5);
if the shift-3 fails, the shift-3 failure count is increased by 1 (accumulated count),
judging whether the failure count of 3 gears is larger than a set threshold value, setting the threshold value as 100,
if yes, the system alarms and stops working;
if not, re-engaging 3 rd gear, and entering step 2.4);
2.4 Repeating step 2.3)
2.5 After 1 second of residence, go to step 2.6);
2.6 Picking up 3 gears;
2.7 Judging whether 3 shift picking is successful or not;
if successful, enter 2.10), pick 3 and keep the count to add 1;
if the step fails, the 3 rd gear failure count is increased by 1, the 3 rd gear is re-picked, and the step 2.8 is entered
2.8 Judging whether 3 shift picking is successful or not;
if the 3 rd gear is successfully picked, the 1 st gear is added, the 3 rd gear is picked, the 3 rd gear is failed, the count is cleared, and the 2.10 th gear is entered;
if the shift 3 fails, the off-shift 3 failure count is increased by 1 (accumulated count),
judging whether the 3 rd gear failure count is larger than a set threshold value, setting the threshold value as 100,
if yes, the system alarms and stops working;
if not, 3 steps are picked again, and step 2.9 is carried out;
2.9 Repeating step 2.8)
2.10 After 1 second of residence, go to step 2.11);
2.11 4 gear is hung;
2.12 Judging whether the 4 th gear is successfully engaged or not;
if successful, enter 2.15), the count of the 4 th gear is increased by 1;
if the step fails, the failure count of the 4 gears is increased by 1, the 4 gears are re-hung, and the step 2.13 is entered
2.13 Judging whether the 4 th gear is successfully engaged or not;
if the 4-gear count is successfully put up, 1 is added, the 4-gear failure count is cleared, and 2.15 is entered;
if the gear-down failure count is increased by 1 (accumulated count) if the gear-down failure count is failed,
judging whether the failure count of the 4 gears is larger than a set threshold value, setting the threshold value as 100,
if yes, the system alarms and stops working;
if not, re-engaging 4 th gear, and entering step 2.14);
2.14 Repeating step 2.13)
2.15 After 1 second of residence, go to step 2.16);
2.16 Picking up 4 th gear;
2.17 Judging whether the 4 th gear is successfully picked or not;
if successful, enter 2.20), pick 4 and count up 1;
if the step fails, the failure count of the 4 th gear is increased by 1, the 4 th gear is re-picked, and the step 2.18 is entered
2.18 Judging whether the 4 th gear is successfully picked or not;
if the 4 th gear is successfully picked, the 1 th gear is added, the 4 th gear is picked, the failure count is cleared, and the 2.20 th gear is picked;
if the number of failures is not equal to the number of the failures in the 4 th gear, the number of the failures is increased by 1 (accumulated count),
judging whether the failure count of the 4 th gear is larger than a set threshold value, setting the threshold value as 100,
if yes, the system alarms and stops working;
if not, re-picking 4 steps and entering step 2.19);
2.19 Repeating step 2.18)
2.20 After a dwell time, step 2.1) is entered.
Claims (6)
1. A test method of a fatigue performance test system of a two-axis pneumatic AMT actuating mechanism comprises an upper computer, a data acquisition card electrically connected with the upper computer, and an electromagnetic valve group and a displacement sensor group which are respectively and electrically connected with the data acquisition card; the upper computer controls the on-off of the electromagnetic valve group through controlling the data acquisition card, so as to realize the gear engaging and disengaging of the first shaft and/or the second shaft; the upper computer judges whether the gear engaging and disengaging actions of the first shaft and the second shaft are successful or not according to the position information of the shifting head acquired by the displacement sensor group transmitted by the data acquisition card; the method is characterized in that a primary shaft and/or a secondary shaft is/are controlled by an upper computer to circularly engage gears according to the following steps to test;
the testing steps of the cyclic gear engagement of the shaft are as follows:
1.11 gear is engaged;
1.2 Judging whether the 1 st gear is successfully engaged or not;
if successful, enter 1.5), the 1 st gear count is increased by 1;
if the step fails, the 1 st gear failure count is increased by 1, the 1 st gear is re-engaged, and the step 1.3 is entered
1.3 Judging whether the 1 st gear is successfully engaged or not;
if the 1 st gear is successfully engaged, the 1 st gear is engaged, the failure count is cleared, and 1.5 is entered;
if the gear-down failure count fails, the 1-gear-down failure count is increased by 1,
judging whether the failure count of the 1 st gear is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-engaging 1 gear, and entering step 1.4);
1.4 Repeating step 1.3)
1.5 After n seconds of residence, entering the step 1.6), wherein n is more than or equal to 1;
1.6 Picking up 1 gear;
1.7 Judging whether the 1 st gear is successful or not;
if successful, 1.10) is entered, the 1 st gear is taken and the 1 st gear count is increased by 1;
if the failure happens, the 1 st gear failure count is increased by 1, the 1 st gear is re-picked, and the step 1.8 is entered
1.8 Judging whether the 1 st gear is successful or not;
if the 1 st gear is successfully picked, the 1 st gear is added with 1, the 1 st gear is picked, the failure count is cleared, and 1.10 is entered;
if the shift 1 fails, the 1 st off-shift failure count is increased by 1,
judging whether the 1 st gear failure count is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-picking 1 gear, and entering step 1.9);
1.9 Repeating step 1.8)
1.10 After n seconds of residence, entering the step 1.11), wherein n is more than or equal to 1;
1.11 2 gear is hung;
1.12 Judging whether the 2 nd gear is successfully engaged or not;
if successful, enter 1.15), the 2 nd gear is hung to count up by 1;
if the gear fails, the gear 2 failure count is increased by 1, the gear 2 is re-engaged, and the step 1.13 is entered
1.13 Judging whether the 2 nd gear is successfully engaged or not;
if the gear 2 is successfully engaged, adding 1, resetting the gear 2 failure count, and entering 1.15); if the gear-down failure count fails, the gear-down failure count is increased by 1,
judging whether the failure count of 2 nd gear is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-engaging 2 steps, and entering step 1.14);
1.14 Repeating step 1.13)
1.15 After n seconds of residence, entering the step 1.16), wherein n is more than or equal to 1;
1.16 2 gear is picked up;
1.17 Judging whether the 2 nd gear picking is successful or not;
if successful, 1.20) is entered, the pick 2 count is increased by 1;
if the step fails, the failure count of 2 nd gear removal is increased by 1, 2 nd gear removal is performed again, and the step 1.18 is performed
1.18 Judging whether the 2 nd gear picking is successful or not;
if the 2 nd gear is successfully picked, the 1 st gear is added, the 2 nd gear is picked, the 2 nd gear is failed, the count is cleared, and 1.20 is entered); if the shift 2 fails, the off-shift failure count is increased by 1,
judging whether the 2 nd gear failure count is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, 2 steps are picked again, and the step 1.19 is carried out;
1.19 Repeating step 1.18)
1.20 After n seconds of residence, entering the step 1.1), wherein n is more than or equal to 1;
the test steps of the biaxial cyclic gear are as follows:
2.13 gear is hung;
2.2 Judging whether the 3 rd gear is successful or not;
if successful, enter 2.5), the 3 rd gear count is increased by 1;
if the step fails, the failure count of 3 gears is increased by 1, 3 gears are re-hung, and the step 2.3 is entered
2.3 Judging whether the 3 rd gear is successful or not;
if the 3 rd gear is successfully put, the 3 rd gear is put up by 1, the 3 rd gear failure is put down, and the method enters 2.5); if the 3 rd gear fails, the 3 rd gear failure count is increased by 1,
judging whether the 3 rd gear failure count is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-engaging 3 rd gear, and entering step 2.4);
2.4 Repeating step 2.3)
2.5 After n seconds of residence, enter step 2.6), n is greater than or equal to 1;
2.6 Picking up 3 gears;
2.7 Judging whether 3 shift picking is successful or not;
if successful, enter 2.10), pick 3 and keep the count to add 1;
if the step fails, the 3 rd gear failure count is increased by 1, the 3 rd gear is re-picked, and the step 2.8 is entered
2.8 Judging whether 3 shift picking is successful or not;
if the 3 rd gear is successfully picked, the 1 st gear is added, the 3 rd gear is picked, the 3 rd gear is failed, the count is cleared, and the 2.10 th gear is entered; if the shift 3 fails, the off-shift 3 failure count is increased by 1,
judging whether the 3 rd gear failure count is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, 3 steps are picked again, and step 2.9 is carried out;
2.9 Repeating step 2.8)
2.10 After n seconds of residence, enter step 2.11), n is greater than or equal to 1;
2.11 4 gear is hung;
2.12 Judging whether the 4 th gear is successfully engaged or not;
if successful, enter 2.15), the count of the 4 th gear is increased by 1;
if the step fails, the failure count of the 4 gears is increased by 1, the 4 gears are re-hung, and the step 2.13 is entered
2.13 Judging whether the 4 th gear is successfully engaged or not;
if the 4-gear count is successfully put up, 1 is added, the 4-gear failure count is cleared, and 2.15 is entered;
if the gear-down failure count fails, the gear-down failure count is increased by 1,
judging whether the failure count of the 4 th gear is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-engaging 4 th gear, and entering step 2.14);
2.14 Repeating step 2.13)
2.15 After n seconds of stay, enter step 2.16), n is greater than or equal to 1;
2.16 Picking up 4 th gear;
2.17 Judging whether the 4 th gear is successfully picked or not;
if successful, enter 2.20), pick 4 and count up 1;
if the step fails, the failure count of the 4 th gear is increased by 1, the 4 th gear is re-picked, and the step 2.18 is entered
2.18 Judging whether the 4 th gear is successfully picked or not;
if the 4 th gear is successfully picked, the 1 th gear is added, the 4 th gear is picked, the failure count is cleared, and the 2.20 th gear is picked;
if the number of failures is not equal to the number of the failures in the 4 th gear,
judging whether the failure count of the 4 th gear is larger than a set threshold value,
if yes, the system alarms and stops working;
if not, re-picking 4 steps and entering step 2.19);
2.19 Repeating step 2.18)
2.20 After n seconds of residence, enter step 2.1), n is greater than or equal to 1.
2. The test method of the fatigue performance test system of the two-axis pneumatic AMT actuator, according to claim 1, is characterized in that: the set threshold value in the steps 1.3), 1.8), 1.13), 1.18), and the steps 2.3), 2.8), 2.13) and 2.18) is 50 to 100.
3. The system for testing fatigue performance of a two-axis pneumatic AMT actuator according to claim 1 or 2, wherein: the electromagnetic valve group comprises a first electromagnetic valve group and a second electromagnetic valve group;
the first electromagnetic valve group comprises a first electromagnetic valve and a second electromagnetic valve and is used for controlling one shaft to be hung with 1 gear, taken off 1 gear, hung with 2 gear and taken off 2 gear;
the second electromagnetic valve group comprises a third electromagnetic valve and a fourth electromagnetic valve and is used for controlling the two shafts to be in 3 gears, 3 gears and 4 gears, and 4 gears.
4. A two-axis pneumatic AMT actuator fatigue performance test system as claimed in claim 3, wherein: the displacement sensor group comprises a first displacement sensor and a second displacement sensor;
the first displacement sensor is used for detecting the position information of the one-axis shifting head, and the second displacement sensor is used for detecting the position information of the two-axis shifting head.
5. The system for testing fatigue performance of the two-axis pneumatic AMT actuator according to claim 4, wherein: the data acquisition card is electrically connected with the electromagnetic valve group through the intermediate relay group;
the intermediate relay group comprises a first intermediate relay, a second intermediate relay, a third intermediate relay and a fourth intermediate relay, and the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the fourth electromagnetic valve are respectively corresponding to the intermediate relay group.
6. The system for testing fatigue performance of the two-axis pneumatic AMT actuator according to claim 5, wherein: the data acquisition card adopts a NIPCI-6221 board card.
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