CN110925271B - Dynamic characteristic testing device of electro-hydrostatic actuator driven by intelligent material - Google Patents
Dynamic characteristic testing device of electro-hydrostatic actuator driven by intelligent material Download PDFInfo
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- CN110925271B CN110925271B CN201911156638.3A CN201911156638A CN110925271B CN 110925271 B CN110925271 B CN 110925271B CN 201911156638 A CN201911156638 A CN 201911156638A CN 110925271 B CN110925271 B CN 110925271B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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Abstract
The invention provides a device for testing the dynamic characteristics of an electro-hydrostatic actuator driven by an intelligent material, which comprises a power amplifier, a Hall sensor, an induction coil, a first pressure sensor, a strain gauge, a laser displacement sensor, a second pressure sensor and a dSPACE platform, wherein the power amplifier is connected with the Hall sensor through a power line; the device comprises a GMM rod, a Hall sensor, an induction coil, a first pressure sensor, a strain gauge, a laser displacement sensor, a second pressure sensor, a dSPACE platform and a control system, wherein the Hall sensor measures the surface magnetic field intensity of the GMM rod, the induction coil measures the magnetic flux density inside the GMM rod, the first pressure sensor measures the pretightening force acting on the GMM rod, the strain gauge measures the strain quantity of the GMM rod after being stressed, the laser displacement sensor measures the mechanical state variable of a hydraulic cylinder, the second pressure sensor measures the pressure change and the flow change of the hydraulic cylinder, and the dSPACE platform calculates the magnetic field condition, the Young modulus, the output power, the mechanical impedance and the dynamic characteristic index of the GMM rod in the working process. By implementing the invention, the GMM intrinsic nonlinearity and multi-physical field coupling characteristics under the influence of a magnetic field, temperature and dynamic load can be tested, and the dynamic characteristic index test of the M-EHA device as a whole is realized.
Description
Technical Field
The invention relates to the technical field of detection of electro-hydrostatic actuators, in particular to a dynamic characteristic testing device of an electro-hydrostatic actuator driven by an intelligent material.
Background
An Electro Hydrostatic Actuator (EHA) is a highly integrated pump-controlled Hydrostatic transmission system, and force and displacement are transmitted by means of mechanisms such as a motor, Hydrostatic, a pump valve and a hydraulic cylinder. The traditional electro-hydrostatic actuator product takes a motor as a driving element to provide power for a hydraulic loop. However, the development of motor-driven electro-hydrostatic actuators is affected in terms of high frequency, high efficiency, etc., subject to limitations of the physical characteristics of the motor, and thus combining smart materials with electro-hydrostatic actuators may enable EHA devices with smaller volumes, higher response speeds, and more precise displacement output control than conventional mechanisms.
At present, the driving element of the electro-hydrostatic actuator driven by intelligent materials is usually piezoelectric ceramics, Giant Magnetostrictive Materials (GMM), shape memory alloys, magnetorheological materials and the like. For example, compared to an electro-hydrostatic actuator using a piezoelectric ceramic as a driving element, an electro-hydrostatic actuator using a Giant Magnetostrictive Material (GMM) as a driving element has an output stroke 5 to 8 times that of the former and a power density 10 times or more that of the former, and thus the electro-hydrostatic actuator using the GMM as a driving element has more excellent performance in engineering applications.
In the actual use process, as the GMM has stronger nonlinear characteristics, the output performance of the GMM is related to an excitation magnetic field and load stress, so that the overall dynamic characteristics of the intelligent magnetostrictive electrostrictive hydrostatic actuator (M-EHA) device are more complex, and more influence factors are provided. Therefore, to describe and understand the dynamics of an M-EHA device as a whole, the intrinsic nonlinearity of the GMM under multi-physical field coupling conditions must be studied and the dynamic output characteristics of the electro-hydrostatic actuator when the GMM is driven must be understood and understood through testing.
Therefore, a device for testing the dynamic characteristics of the electro-hydrostatic actuator driven by the intelligent material is needed, and can be used for testing the GMM intrinsic nonlinearity and the multi-physical field coupling characteristics under the influence of a magnetic field, temperature and a dynamic load, so as to realize the overall dynamic characteristic index test of the M-EHA device.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a device for testing the dynamic characteristics of an electro-hydrostatic actuator driven by an intelligent material, which can test the GMM intrinsic nonlinearity and the multi-physical field coupling characteristics under the influence of a magnetic field, temperature and a dynamic load, and realize the overall test of the dynamic characteristic indexes of the M-EHA device.
In order to solve the above technical problem, an embodiment of the present invention provides a device for testing dynamic characteristics of an electro-hydrostatic actuator driven by an intelligent material, where the device is used for the electro-hydrostatic actuator driven by the intelligent material; the electro-hydrostatic actuator driven by the intelligent material comprises a GMM rod, a direct current bias coil, an excitation coil, a pump piston, a pump cavity, a one-way valve, a pipeline, a hydraulic cylinder, an oil return valve, an energy accumulator and a pre-tightening bolt;
wherein, the electro-hydrostatic actuator dynamic characteristic testing arrangement of smart material driven include: the device comprises a power amplifier, a Hall sensor, an induction coil, a first pressure sensor, a strain gauge, a laser displacement sensor, a second pressure sensor and a dSPACE platform; wherein the content of the first and second substances,
the control end of the power amplifier is connected with the first end of the dSPACE platform, and the voltage input end and the voltage output end are respectively connected with the two ends of the exciting coil; the power amplifier is used for receiving a control signal issued by the dSPACE platform, processing the control signal and outputting a corresponding voltage signal to be loaded on the exciting coil;
the Hall sensor is fixedly adhered to the inner diameter of the exciting coil, connected with the second end of the dSPACE platform and arranged close to the outer surface of the GMM rod; wherein the Hall sensor is used for measuring the surface magnetic field intensity of the GMM rod and sending the surface magnetic field intensity to the dSPACE platform;
the induction coil is sleeved on the outer surface of the exciting coil and is connected with the third end of the dSPACE platform; wherein the induction coil is used for measuring the magnetic flux density inside the GMM rod and sending the magnetic flux density to the dSPACE platform;
the first pressure sensor is arranged on the end face, facing one end of the pre-tightening bolt, of the GMM rod and is connected with the fourth end of the dSPACE platform; wherein the first pressure sensor is used for measuring the pretightening force acting on the GMM rod and sending the pretightening force into the dSPACE platform;
the strain gauge is pasted on the outer surface of the GMM rod and connected with the fifth end of the dSPACE platform; the strain gauge is used for measuring the strain quantity of the GMM rod after being stressed and sending the strain quantity to the dSPACE platform;
the laser displacement sensor is arranged at the front end of a piston rod of the hydraulic cylinder, the height of the laser displacement sensor is adjusted through a preset screw lifting mechanism, and the laser displacement sensor is connected with the sixth end of the dSPACE platform; the laser displacement sensor is used for measuring the mechanical state variable of the hydraulic cylinder and sending the mechanical state variable to the dSPACE platform;
two second pressure sensors are respectively installed and fixed on the installation holes at the high-pressure end and the low-pressure end of the hydraulic cylinder and are connected with the seventh end of the dSPACE platform; the two second pressure sensors are used for measuring pressure changes of a high-pressure end and a low-pressure end of the hydraulic cylinder and flow changes of the hydraulic cylinder and sending the pressure changes and the flow changes to the dSPACE platform;
the dSPACE platform is formed by a chip pre-installed with test software and used for calculating the magnetic field condition of the GMM rod in the working process according to the surface magnetic field intensity of the GMM rod measured by the Hall sensor and the magnetic flux density inside the GMM rod measured by the induction coil; calculating the Young modulus of the GMM rod in the current working state according to the pre-tightening force of the GMM rod measured by the first pressure sensor and the strain quantity of the GMM rod after stress measured by the strain gauge, and obtaining a corresponding nonlinear curve; and calculating the output power, the mechanical impedance and the dynamic characteristic index of the electro-hydrostatic actuator driven by the intelligent material according to the mechanical state variable of the hydraulic cylinder measured by the laser displacement sensor and the pressure change and the flow change of the hydraulic cylinder measured by the second pressure sensor.
The laser displacement sensor is arranged on a piston rod of the hydraulic cylinder and is positioned at the same height with the piston rod of the hydraulic cylinder.
Wherein the mechanical state variables of the hydraulic cylinder include output displacement, velocity, and acceleration.
And the two second pressure sensors are hermetically connected with the mounting holes at the high and low pressure ends of the hydraulic cylinder.
The embodiment of the invention has the following beneficial effects:
the intrinsic nonlinearity and multi-physical field coupling characteristics of the GMM under the influence of a magnetic field, temperature and dynamic load are tested by testing various parameters (including magnetic flux density of a GMM rod, excitation magnetic field intensity for driving the GMM, stress strain quantity of a GMM element, pressure on two sides of a hydraulic cylinder, output displacement, speed and other variables) of the M-EHA device in a working state, and the tested parameters are mutually linked and collated to describe the dynamic characteristics of the M-EHA more completely.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
Fig. 1 is a schematic system structure diagram of a device for testing dynamic characteristics of an electro-hydrostatic actuator driven by a smart material according to an embodiment of the present invention;
fig. 2 is an application scenario diagram of an electro-hydrostatic actuator in an intelligent material driven electro-hydrostatic actuator dynamic characteristic testing apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, in an embodiment of the present invention, there is provided a device for testing dynamic characteristics of a smart material driven electro-hydrostatic actuator, which is used for a smart material driven electro-hydrostatic actuator (as shown in fig. 2); in fig. 2, the smart material driven electro-hydrostatic actuator comprises a GMM rod 1, an electrical control circuit (a dc bias coil 2, an excitation coil 3), a hydraulic system (a pump piston 4, a pump cavity 5, a one-way valve 6, a pipeline 7, a hydraulic cylinder 8 and an oil return valve 9), an energy accumulator 10 and a pre-tightening bolt 11; wherein the content of the first and second substances,
the GMM rod 1 is used as a driving element of an actuator, has large energy density (more than 10 times of piezoelectric ceramics), high response speed (microsecond level) and high positioning precision (micron level), converts electromagnetic energy into mechanical energy by means of the magnetostriction effect of the GMM rod, and is an ideal driving element of the electro-hydrostatic actuator. The GMM material has delta E effect, namely when the magnetic field or stress applied to the material changes, the Young modulus of the material changes, and nonlinear behavior is shown; the direct current bias coil 2 is arranged around the GMM rod 1, provides a bias magnetic field for the direct current bias coil, and adjusts the Young modulus of the GMM rod 1 of the driving element; the exciting coil 3 is arranged in the middle of the GMM rod 1 and provides a driving magnetic field for the GMM rod 1, so that the GMM rod 1 is excited to generate magnetostriction and the actuator is driven to move; the hydraulic system consists of a pump piston 4, a pump cavity 5, a one-way valve 6, a pipeline 7, a hydraulic cylinder 8 and an oil return valve 9, and converts the small-displacement high-frequency vibration of the GMM rod 1 into the large-displacement output of the hydraulic cylinder 8 through the flow distribution of an oil way; the accumulator 10 provides a biasing pressure to the system and counteracts the shock generated during operation of the actuator and compensates for leakage; the pre-tightening bolt 11 provides pre-tightening force for the GMM rod 1, and the GMM rod 1 can be subjected to the changing stress action through adjustment;
under the action of an excitation magnetic field generated by the excitation coil 3 and a bias magnetic field generated by the direct current bias coil 2, the GMM rod 1 and the pretightening force generated by the pretightening bolt 11 jointly act to generate magnetostrictive deformation to push the pump piston 5 to extrude the pump cavity 6 to generate high-pressure fluid, the high-pressure fluid is rectified by the one-way valve 7 to push the hydraulic cylinder 8 to realize power output, namely the magnitude of the excitation magnetic field and the magnitude of the prepressing force are changed, so that the hydraulic cylinder 8 can output different powers.
This electro-hydrostatic actuator dynamic characteristic testing arrangement of smart material driven includes: a power amplifier M1, a Hall sensor M2, an induction coil M3, a first pressure sensor M4, a strain gauge M5, a laser displacement sensor M6, a second pressure sensor M7 and a dSPACE platform M0; wherein the content of the first and second substances,
the control end of the power amplifier M1 is connected with the first end of the dSPACE platform M0, and the voltage input end and the voltage output end are respectively connected with the two ends of the exciting coil 3; the power amplifier M1 is configured to receive a control signal sent by the dSPACE platform M0, process the control signal, and output a corresponding voltage signal to be loaded on the exciting coil 3; the Hall sensor M2 is fixed on the inner diameter of the exciting coil 3 by adhesive and is connected with the second end of the dSPACE platform M0 and is arranged close to the outer surface of the GMM rod 1; wherein the Hall sensor M2 is used for measuring the surface magnetic field intensity of the GMM rod 1 and sending the surface magnetic field intensity into a dSPACE platform M0; it should be noted that the hall sensor M2 obtains a current signal that is processed into a magnetic field strength in the dSPACE platform M0;
the induction coil M3 is sleeved on the outer surface of the exciting coil 3 and is connected with the third end of the dSPACE platform M0; wherein, the induction coil M3 is used for measuring the magnetic flux density inside the GMM rod 1 and sending the magnetic flux density to the dSPACE platform M0; it should be noted that, the induced voltage is obtained at two ends of the induction coil M3, and the magnetic flux density is obtained through the integration processing of the digital magnetic flux meter in the dSPACE platform M0;
the first pressure sensor M4 is of a strain gauge type, is arranged on the end face of one end, facing the pre-tightening bolt 11, of the GMM rod 1 and is connected with the fourth end of the dSPACE platform M0; wherein, the first pressure sensor M4 is used for measuring the pretightening force acting on the GMM rod 1 and sending the pretightening force into a dSPACE platform M0; it should be noted that the pressure signal obtained by the first pressure sensor M4 is processed into a preload force in the dSPACE platform M0;
strain gage M5 is affixed to the outer surface of GMM rod 1 by adhesive and attached to the fifth end of dSPACE platform M0; wherein, the strain gauge M5 is used for measuring the strain quantity of the GMM rod 1 after being stressed and sending the strain quantity to a dSPACE platform M0; it should be noted that the strain gauge M5 forms a corresponding strain amount in the dSPACE platform M0 to detect the current young modulus change of the GMM rod 1 through the change of the formed stress signal;
the laser displacement sensor M6 is arranged at the front end of the piston rod of the hydraulic cylinder 8, the height of the laser displacement sensor is adjusted through a preset screw lifting mechanism, and the laser displacement sensor M6 is connected with the sixth end of the dSPACE platform M0; wherein, the laser displacement sensor M6 is used for measuring the mechanical state variable of the hydraulic cylinder 8 and sending the mechanical state variable to the dSPACE platform M0; the laser displacement sensor M6 and the piston rod of the hydraulic cylinder 8 are located at the same height, and the measured mechanical state variables of the hydraulic cylinder comprise output displacement, speed and acceleration;
two second pressure sensors M7 are respectively mounted and fixed on mounting holes (not shown) at the high and low pressure ends of the hydraulic cylinder 8, and are connected with the seventh end of the dSPACE platform M0; two second pressure sensors M7, for measuring the pressure changes of the high-pressure end and the low-pressure end of the hydraulic cylinder 8 and the flow change of the hydraulic cylinder 8, and sending them to the dSPACE platform M0; wherein, the two second pressure sensors M7 are hermetically connected with the mounting holes at the high and low pressure ends of the hydraulic cylinder 8 through smearing anti-falling compounds; it should be noted that the pressure signals at the high and low ends formed by the two second pressure sensors M7 form a pressure difference in the dSPACE platform M0, so as to detect the pressure, flow rate and other changing states of the M-EHA, provide the state information of the fluid part, and perform variable feedback and correction comparison on the fluid motion model;
the dSPACE platform M0 is formed by a chip pre-loaded with test software and used for calculating the magnetic field condition of the GMM rod 1 in the working process according to the surface magnetic field strength of the GMM rod 1 measured by the Hall sensor M2 and the magnetic flux density inside the GMM rod 1 measured by the induction coil M2; calculating the Young modulus of the GMM rod 1 in the current working state according to the pre-tightening force on the GMM rod 1 measured by the first pressure sensor M4 and the strain quantity of the GMM rod 1 subjected to the stress measured by the strain gauge M5, and obtaining a corresponding nonlinear curve; and calculating the output power, mechanical impedance and dynamic characteristic indexes of the electro-hydrostatic actuator driven by the intelligent material according to the mechanical state variable of the hydraulic cylinder measured by the laser displacement sensor M6 and the pressure change and flow change of the hydraulic cylinder measured by the second pressure sensor M7. It should be noted that the dSPACE platform M0 is used as a data acquisition and processing platform in the test apparatus, and other platforms such as an oscilloscope, a data acquisition board card, etc. may be used instead.
The working principle of the device for testing the dynamic characteristic of the intelligent material driven electro-hydrostatic actuator in the embodiment of the invention is that the Hall sensor M2 and the induction coil M3 can be used for testing the magnetic field condition of the GMM rod 1 in the working process, and then the first pressure sensor M4 on the GMM rod 1 is used for obtaining the working stress of the GMM rod, so that the testing parameters which are transmitted to the intelligent material driven electro-hydrostatic actuator can be completely obtained. The laser displacement sensor M6 obtains the displacement output of the whole M-EHA system, and obtains the output speed and the acceleration through data fitting.
The strain quantity of the GMM rod obtained by the strain gauge M5 is combined with the working stress obtained by the first pressure sensor M4, so that the Young modulus of the GMM rod in the current working state can be obtained, and a nonlinear curve of the GMM rod can be obtained.
The output power can be obtained by measuring the pressure difference between the high-pressure end and the low-pressure end of the hydraulic cylinder 8 through the second pressure sensor M7 in combination with the output displacement and the speed of the hydraulic cylinder 8. If the load applied to the actuator is a movable counterweight and is connected to the piston rod at the high-pressure end of the hydraulic cylinder through a bolt, the mass of the counterweight can be changed to adjust the load.
The pressure difference obtained by the second pressure sensor M7 and the area of the piston of the hydraulic cylinder 8 obtain the acting force output by the hydraulic cylinder 8, namely the acting force is excited to a load; and (3) combining the displacement, the speed and the acceleration obtained by the laser displacement sensor M6 and the load mass, listing a system motion differential equation according to a Newton's second law, and solving the system motion differential equation, namely the load response. The resulting time-independent quantity, which compares the excitation of the load to the response of the load, is the mechanical impedance of the load. All the instruments are connected with an I/O interface of the dSPACE platform M0, data control and analysis are carried out by the dSPACE platform M0, and various dynamic characteristic indexes of the system can be obtained through real-time and synchronous measurement.
The embodiment of the invention has the following beneficial effects:
the GMM intrinsic nonlinearity and multi-physical field coupling characteristics under the influence of magnetic field, temperature and dynamic load are tested by testing various parameters (including magnetic flux density of a GMM rod, excitation magnetic field intensity for driving the GMM, stress strain quantity of a GMM element, and variables such as pressure at two sides of a hydraulic cylinder and output displacement and speed) of the M-EHA device in a working state, and the tested various parameters are mutually linked and collated to describe the dynamic characteristics of the M-EHA more completely.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (4)
1. A dynamic characteristic testing device of an electro-hydrostatic actuator driven by an intelligent material is used for the electro-hydrostatic actuator driven by the intelligent material; the electro-hydrostatic actuator driven by the intelligent material comprises a GMM rod, a direct current bias coil, an excitation coil, a pump piston, a pump cavity, a one-way valve, a pipeline, a hydraulic cylinder, an oil return valve, an energy accumulator and a pre-tightening bolt;
the device for testing the dynamic characteristics of the electro-hydrostatic actuator driven by the intelligent material is characterized by comprising: the device comprises a power amplifier, a Hall sensor, an induction coil, a first pressure sensor, a strain gauge, a laser displacement sensor, a second pressure sensor and a dSPACE platform; wherein the content of the first and second substances,
the control end of the power amplifier is connected with the first end of the dSPACE platform, and the voltage input end and the voltage output end are respectively connected with the two ends of the exciting coil; the power amplifier is used for receiving a control signal issued by the dSPACE platform, processing the control signal and outputting a corresponding voltage signal to be loaded on the exciting coil;
the Hall sensor is fixedly adhered to the inner diameter of the exciting coil, connected with the second end of the dSPACE platform and arranged close to the outer surface of the GMM rod; wherein the Hall sensor is used for measuring the surface magnetic field intensity of the GMM rod and sending the surface magnetic field intensity to the dSPACE platform;
the induction coil is sleeved on the outer surface of the exciting coil and is connected with the third end of the dSPACE platform; wherein the induction coil is used for measuring the magnetic flux density inside the GMM rod and sending the magnetic flux density to the dSPACE platform;
the first pressure sensor is arranged on the end face, facing one end of the pre-tightening bolt, of the GMM rod and is connected with the fourth end of the dSPACE platform; wherein the first pressure sensor is used for measuring the pretightening force acting on the GMM rod and sending the pretightening force into the dSPACE platform;
the strain gauge is pasted on the outer surface of the GMM rod and connected with the fifth end of the dSPACE platform; the strain gauge is used for measuring the strain quantity of the GMM rod after being stressed and sending the strain quantity to the dSPACE platform;
the laser displacement sensor is arranged at the front end of a piston rod of the hydraulic cylinder, the height of the laser displacement sensor is adjusted through a preset screw lifting mechanism, and the laser displacement sensor is connected with the sixth end of the dSPACE platform; the laser displacement sensor is used for measuring the mechanical state variable of the hydraulic cylinder and sending the mechanical state variable to the dSPACE platform;
two second pressure sensors are respectively installed and fixed on the installation holes at the high-pressure end and the low-pressure end of the hydraulic cylinder and are connected with the seventh end of the dSPACE platform; the two second pressure sensors are used for measuring pressure changes of a high-pressure end and a low-pressure end of the hydraulic cylinder and flow changes of the hydraulic cylinder and sending the pressure changes and the flow changes to the dSPACE platform;
the dSPACE platform is formed by a chip pre-installed with test software and used for calculating the magnetic field condition of the GMM rod in the working process according to the surface magnetic field intensity of the GMM rod measured by the Hall sensor and the magnetic flux density inside the GMM rod measured by the induction coil; calculating the Young modulus of the GMM rod in the current working state according to the pre-tightening force of the GMM rod measured by the first pressure sensor and the strain quantity of the GMM rod after stress measured by the strain gauge, and obtaining a corresponding nonlinear curve; and calculating the output power, the mechanical impedance and the dynamic characteristic index of the electro-hydrostatic actuator driven by the intelligent material according to the mechanical state variable of the hydraulic cylinder measured by the laser displacement sensor and the pressure change and the flow change of the hydraulic cylinder measured by the second pressure sensor.
2. The device for testing the dynamic characteristics of a smart material driven electro-hydrostatic actuator of claim 1, wherein the laser displacement sensor is disposed on the piston rod of the hydraulic cylinder and is located at the same height as the piston rod of the hydraulic cylinder.
3. A smart material driven electro-hydrostatic actuator dynamic property testing device as claimed in claim 1, wherein the mechanical state variables of the hydraulic cylinder include output displacement, velocity, and acceleration.
4. The device for testing the dynamic characteristics of a smart material driven electro-hydrostatic actuator of claim 1, wherein the two second pressure sensors are each in sealed connection with mounting holes at the high and low pressure ends of the hydraulic cylinder.
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| CN104062610A (en) * | 2014-06-11 | 2014-09-24 | 温州大学 | Device and methods for detecting magnetic property of magnetostriction material |
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