CN115097749A - Automatic leveling method for dynamometer iron floor - Google Patents
Automatic leveling method for dynamometer iron floor Download PDFInfo
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- CN115097749A CN115097749A CN202210533067.6A CN202210533067A CN115097749A CN 115097749 A CN115097749 A CN 115097749A CN 202210533067 A CN202210533067 A CN 202210533067A CN 115097749 A CN115097749 A CN 115097749A
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title claims abstract description 100
- 229910052742 iron Inorganic materials 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004891 communication Methods 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 6
- 230000001174 ascending effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000012905 input function Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 14
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
An automatic leveling method for an iron floor of a dynamometer belongs to the technical field of dynamometers and solves the problems that the existing air spring adjusting mode can only adopt a manual mode and the maintenance is long in time consumption. The method specifically comprises the following steps: if the iron floor is not inclined, the data returned by the X-Y axis digital angle ruler are all 0; when the pressure of the four supporting points is different, the X-Y axis digital angle ruler detects the X or Y direction inclination angle of the iron floor, and transmits an inclination signal to the ARM processor, if the X axis inclination angle is a positive value and the Y axis inclination angle is 0, the two air springs on the left side are low and need to be raised, or the two air springs on the right side need to be lowered; specifically, the four air springs are lifted or lowered, and the leveling knobs of the four air springs are ensured to be in the middle positions according to the position determination of the servo motor absolute encoder.
Description
Technical Field
The invention relates to the technical field of dynamometers, in particular to an automatic leveling method for an iron floor of a dynamometer.
Background
The air springs at the 4 lower corners of the dynamometer iron floor have uneven gravity center distribution of weights on the iron floor, so that the iron floor is uneven after long-time use, the monitoring value of a vibration sensor is too large when the dynamometer runs, the bearing of the dynamometer is damaged due to long-time running, the maintenance steps for replacing the bearing are complex, the maintenance time is long, and the cost is high. At present, air springs at 4 corners need to be modulated in the same level, the air springs need to be placed under an iron floor during maintenance, the environment is dark, a flashlight needs to be used for lighting, the maintenance space is small, only 1 person can conveniently maintain, and the maintenance is inconvenient and unsafe. The air inlet valve of the air spring needs to be manually adjusted by a wrench, so that the air inlet pressure of the air springs at 4 corners is ensured to be constant, the 4 air springs are kept in the same level, and the maintenance is long in time.
Because 4 air springs are not horizontal unanimously, the iron floor is unbalanced, and the vibrations sensor measuring value is too big when leading to the dynamometer machine operation and causes the system shut down, influences the normal operating of system. Or because air spring inlet pressure is too big among them, lead to the relief valve to open, can produce the noise of very big gas leakage, also can lead to the ejecting high height of air spring too high simultaneously, cause the air spring height inconsistency of 4 angles, lead to the iron floor slope, can't detect iron floor levelness in the laboratory at present, can't judge air spring trouble, all adjust the air spring admission valve after breaking down manually at every turn.
Therefore, the existing air spring adjusting method has the following defects: only manual mode can be adopted, and the maintenance is long.
In the prior art, patent document CN201390528Y discloses an "automatic leveling device" by providing on an abutment a proximity switch and a triggering device that triggers the above-mentioned corresponding proximity switch according to the difference in height between the platform and the abutment. After the proximity switch is triggered, a signal is generated, and the electric control program sends out a corresponding instruction to indicate the platform to generate different actions, so that the automatic leveling of the platform and the abutment is finally achieved. Patent document CN205076766U discloses an "automatic leveling device suitable for an industrial vehicle", which provides an automatic leveling device suitable for an industrial vehicle, capable of automatically detecting the inclination angle of a fork, adjusting the inclination angle to be horizontal or within a safe angle range, ensuring the safety of the fork, and dynamically adjusting the inclination angle during the driving process.
In summary, the conventional air spring adjusting mode can only adopt a manual mode, and the maintenance is long.
Disclosure of Invention
The invention solves the problems that the existing air spring adjusting mode only adopts a manual mode and the maintenance consumes long time.
The invention relates to an automatic leveling method for a dynamometer iron floor, which specifically comprises the following steps:
if the iron floor is not inclined, the data returned by the X-Y axis digital angle ruler are all 0;
when the pressure of the four supporting points is different, the X-Y axis digital angle ruler detects the X or Y direction inclination angle of the iron floor, and transmits an inclination signal to the ARM processor, if the X axis inclination angle is a positive value and the Y axis inclination angle is 0, the two air springs on the left side are low and need to be raised, or the two air springs on the right side need to be lowered;
specifically, the leveling knobs of the four air springs are ensured to be in the middle position according to the position determination of the absolute encoders of the servo motors when the air springs are lifted or lowered.
Further, in one embodiment of the invention, the X-Y digital angle ruler is arranged in a groove in the center of the iron floor.
Further, in an embodiment of the invention, the X-axis and the Y-axis of the X-Y digital angle scale use a PID control algorithm to adjust the response speed and the output value by adjusting the proportional, integral and differential values of the PID.
Further, in an embodiment of the present invention, the ARM processor is a core controller, and communicates with the X-Y digital angle ruler through the RS485 serial port in a modbus-rtu manner, so as to read an angle value of the iron floor relative to a horizontal plane in real time, perform an operation in the ARM processor through the acquired angle value, and determine a position where each servo should operate according to an operation result.
Further, in an embodiment of the present invention, the ARM processor controls the servo motor to act through a bus of the CANopen, so as to realize accurate position control of the servo.
Further, in an embodiment of the present invention, the ARM processor implements position acquisition of the position encoder through an input function of the high-speed counter.
Further, in an embodiment of the present invention, the ARM processor monitors the pressure of the compressed air by collecting an analog voltage signal, so as to monitor the air pressure.
Further, in an embodiment of the present invention, the ARM processor communicates with the touch screen through RS485modbus communication, so as to display a picture.
Further, in an embodiment of the present invention, the servo motor drives the screw rod lifting mechanism to rotate so as to realize the ascending and descending functions.
Further, in an embodiment of the invention, the servo motor controls the opening of the air inlet valve of the air spring through the lifting and descending functions of the screw rod, and the height of the air bags is adjusted, so that the four air bags are restored to the same height, and the iron floor is ensured to be in a relatively balanced state.
The invention solves the problems that the existing air spring adjusting mode only adopts a manual mode and the maintenance consumes long time. The concrete beneficial effects include:
1. the invention relates to an automatic leveling method for an iron floor of a dynamometer, which is characterized in that an X-Y axis digital angle ruler is used for detecting the horizontal state of the iron floor, when the pressure of four supporting points is different, the X-Y axis digital angle ruler detects that signals are transmitted to an ARM processor, the ARM processor controls a servo motor to act through a CANOpen bus to drive a screw rod lifting mechanism to rotate, controls an air inlet valve of an air spring and adjusts the height of air bags, so that the four air bags are restored to the same height, and the iron floor is ensured to be in a relatively balanced state. The damage of a dynamometer motor bearing is avoided, the maintenance cost is saved, and the failure rate of the dynamometer air spring is greatly reduced.
2. According to the automatic leveling method for the dynamometer iron floor, the servo motor is used for driving the lead screw lifter to adjust the air spring air inlet valve, and effective and accurate adjustment is achieved.
3. According to the automatic leveling method for the dynamometer iron floor, the ARM processor is used as the core of the whole system control and is communicated with the servo driver in a CANopen communication mode, accurate servo position control can be achieved, and response speed is high.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a diagram illustrating the automatic leveling of a dynamometer iron floor according to an embodiment.
Fig. 2 is a diagram of a controller according to an embodiment.
FIG. 3 is a diagram illustrating the automatic leveling of a dynamometer iron floor according to an embodiment.
Detailed Description
Various embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The embodiments described by referring to the drawings are exemplary and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The automatic leveling method for the dynamometer iron floor comprises the following specific steps:
if the iron floor is not inclined, the data returned by the X-Y axis digital angle ruler are all 0;
when the pressure of the four supporting points is different, the X-Y axis digital angle ruler detects the X or Y direction inclination angle of the iron floor, and transmits an inclination signal to the ARM processor, if the X axis inclination angle is a positive value and the Y axis inclination angle is 0, the two air springs on the left side are low and need to be raised, or the two air springs on the right side need to be lowered;
specifically, the four air springs are lifted or lowered, and the leveling knobs of the four air springs are ensured to be in the middle positions according to the position determination of the servo motor absolute encoder.
In this embodiment, the X-Y digital angle scale is mounted in a recess in the center of the iron floor.
In the present embodiment, the X-axis and the Y-axis of the X-Y digital angle scale use a PID control algorithm to adjust the proportional, integral, and differential values of the PID to adjust the response speed and the output value.
In the embodiment, the ARM processor is a core controller, the communication with the X-Y axis digital angle ruler is realized in a modbus-rtu mode through an RS485 serial port, the angle value of the iron floor relative to the horizontal plane is read in real time, the operation is carried out in the ARM processor through the collected angle value, and the position of each servo to be operated is determined according to the operation result.
In the embodiment, the ARM processor controls the servo motor to act through a CANopen bus, so that accurate servo position control is realized.
In the embodiment, the ARM processor realizes position acquisition of the position encoder through the input function of the high-speed counter.
In the embodiment, the ARM processor monitors the pressure of the compressed air through the acquisition of analog quantity voltage signals, and monitors the air pressure.
In this embodiment, the ARM processor communicates with the touch screen through RS485modbus communication, so as to display the image.
In this embodiment, the servo motor drives the screw rod lifting mechanism to rotate so as to realize the ascending and descending functions.
In the embodiment, the servo motor controls the opening of the air inlet valve of the air spring through the lifting and descending functions of the screw rod, and the height of the air bags is adjusted, so that the four air bags are restored to the same height, and the iron floor is ensured to be in a relatively balanced state.
The embodiment is based on the automatic leveling method of the dynamometer iron floor, and provides an actual embodiment by combining specific objects:
the controller using the ARM processor as a core is shown in fig. 1, the horizontal state of the iron floor is detected by using the X-Y axis digital angle ruler, when the pressure of four supporting points is different, the X-Y axis digital angle ruler detects the X or Y direction inclination angle of the iron floor, signals are transmitted to the ARM processor, the ARM processor performs operation after receiving the inclination angle, the ARM processor controls the servo motor to act through a CANOpen bus, the servo motor drives the lead screw lifting mechanism to rotate to achieve the ascending and descending functions, the opening degree of the air spring air inlet valve is controlled through the lead screw lifting mechanism, the height of the air bags is adjusted, the four air bags are enabled to be restored to the same height, and the iron floor is ensured to be in a relatively balanced state. The maintenance cost is saved, the maintenance time is greatly shortened, and the failure rate of the air spring is reduced.
As shown in fig. 2, the ARM processor is used as a core of the whole system control, and communicates with the X-Y axis digital angle ruler in a modbus-rtu manner through the RS485 serial port, so that the angle value of the iron floor relative to the horizontal plane can be read in real time, the collected angle value is used for operation in the ARM processor, and the position where each servo should operate is determined according to the operation result.
The ARM processor is used as the core of the whole system control, and is communicated with the servo driver in a CANopen communication mode, so that the position accurate control of the servo can be realized, and the response speed is high.
The ARM processor realizes position acquisition of the position encoder through a high-speed counter input (TTL level) function.
The ARM processor realizes the pressure monitoring of compressed air through the collection of analog quantity voltage signals, and realizes the monitoring of air pressure.
The ARM processor is communicated with the touch screen through RS485modbus communication, and display of the picture is achieved.
As shown in fig. 3, the specific scheme is as follows:
the X-Y axis digital angle square is arranged in a groove in the center of the iron floor, a PID control algorithm is respectively applied to the X axis and the Y axis, the response speed and the output value are adjusted by adjusting the proportional, integral and differential values of the PID, the servo motor is driven by the output value, the air spring leveling knob is adjusted by the speed reducer, and the balance state of the iron floor is controlled. Normally, if the iron floor is not inclined, the data returned by the X-Y axis digital angle ruler are all 0, if the inclination angle of the X axis is a positive value and the inclination angle of the Y axis is 0, the No. 1 and No. 3 air springs are low and need to be raised, or the No. 2 and No. 4 air springs are high and need to be lowered. The air spring is lifted or lowered, and the leveling knob of the air spring is ensured to be in a middle position according to the position determination of the servo motor absolute encoder.
The dynamometer machine iron floor automatic leveling method provided by the invention is described in detail, specific examples are applied in the method for explaining the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A dynamometer machine iron floor automatic leveling method is characterized by comprising the following steps:
if the iron floor is not inclined, the data returned by the X-Y axis digital angle ruler are all 0;
when the pressure of the four supporting points is different, the X-Y axis digital angle ruler detects the X or Y direction inclination angle of the iron floor, and transmits an inclination signal to the ARM processor, if the X axis inclination angle is a positive value and the Y axis inclination angle is 0, the two air springs on the left side are low and need to be raised, or the two air springs on the right side need to be lowered;
specifically, the leveling knobs of the four air springs are ensured to be in the middle position according to the position determination of the absolute encoders of the servo motors when the air springs are lifted or lowered.
2. The method as claimed in claim 1, wherein the X-Y axis digital angle scale is installed in a recess in the center of the iron floor.
3. The method as claimed in claim 1, wherein the X-axis and Y-axis of the X-Y digital angle scale are controlled by PID control algorithm to adjust the PID proportional, integral and differential values to adjust the response speed and output value.
4. The method as claimed in claim 1, wherein the ARM processor is a core controller, and communicates with the X-Y digital angle gauge through an RS485 serial port in a modbus-rtu manner, so as to read the angle value of the iron floor relative to the horizontal plane in real time, and the ARM processor performs operation on the acquired angle value, and determines the position where each servo should operate according to the operation result.
5. The automatic leveling method for the dynamometer iron floor as claimed in claim 1, wherein the ARM processor controls the servo motor to act through a CANopen bus, so as to realize accurate servo position control.
6. The method as claimed in claim 1, wherein the ARM processor implements position acquisition of a position encoder through a high-speed counter input function.
7. The method as claimed in claim 1, wherein the ARM processor monitors the pressure of compressed air by collecting analog voltage signals, thereby monitoring the air pressure.
8. The method for automatically leveling the iron floor of the dynamometer of claim 1, wherein the ARM processor communicates with the touch screen through RS485modbus communication to realize the display of the picture.
9. The method as claimed in claim 1, wherein the servo motor drives the screw rod lifting mechanism to rotate to achieve the ascending and descending functions.
10. The automatic leveling method of dynamometer iron floor as claimed in claim 1, wherein the servo motor controls the opening of the air inlet valve of the air spring through the lifting and lowering functions of the lead screw, adjusts the height of the air bag, and enables the four air bags to be restored to the same height, thereby ensuring that the iron floor is in a relatively balanced state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210533067.6A CN115097749A (en) | 2022-05-16 | 2022-05-16 | Automatic leveling method for dynamometer iron floor |
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| CN202210533067.6A CN115097749A (en) | 2022-05-16 | 2022-05-16 | Automatic leveling method for dynamometer iron floor |
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