CN212658436U - Hydrostatic transmission algorithm demonstration experiment bench - Google Patents
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Abstract
The utility model provides a hydrostatic transmission algorithm demonstrates laboratory bench, it includes hydrostatic transmission, hydrostatic transmission discharge capacity controlling means, motor speed controlling means, load braking torque modulation and rotational speed torque measuring device, well accuse host computer, radiator (9), oil tank (19), the utility model discloses an experimental bench uses the Can bus to carry out data communication to each node controller on the hardware layer, use built-in control algorithm and corresponding sensor to carry out independent control to the executor after node controller receives data, have the control dispersion, characteristics that operation and management are concentrated, and adopt the multilayer hierarchical, the structural style of autonomy cooperation. The experiment bench guarantees the usability, stability, real-time performance and high efficiency of the whole system to a certain extent.
Description
Technical Field
The utility model belongs to the test equipment field, concretely relates to hydrostatic transmission algorithm demonstration experiment bench.
Background
A hydrostatic transmission is a device that transmits power using hydraulic oil as a working medium. The hydrostatic transmission has the main working characteristics of automatic adaptability to external load, stepless speed regulation and torque conversion, and full utilization of the power of an engine, but because the conversion of internal energy of the hydrostatic transmission device and the control relation of hydraulic oil are complex, related theoretical design and calculation methods are not complete at present, and the characteristics which are accurate enough are difficult to obtain by using a theoretical method. Therefore, the control algorithm of the current hydrostatic transmission still has great research value. The hydrostatic transmission algorithm experimental bench and the experimental method designed on the premise have great significance for demonstration of the control algorithm.
The prior art has extensive documentation on the design of relevant laboratory benches, for example: the utility model discloses a continuously adjustable vehicle electric control hydraulic drive experiment bench system, which comprises an energy accumulator safety valve, a one-way valve, an electromagnetic overflow valve, an electric proportional speed regulating valve and an electric proportional motor, wherein the energy accumulator safety valve, the one-way valve, the electromagnetic overflow valve, the electric proportional speed regulating valve and the electric proportional motor are sequentially connected in parallel with a main oil way; an oil inlet of the one-way valve is connected with a variable plunger pump, and the variable plunger pump is connected with an output shaft of a motor; an electric proportional speed regulating valve is arranged on a main oil way between the electric proportional motor and the precision filter, and a flow sensor and a pressure sensor are respectively arranged at the front and the back of an oil inlet of the electric proportional motor at the position of the main oil way; an output shaft of the electric proportional motor is connected with an inertia flywheel, the inertia flywheel is connected with a magnetic powder brake, and the magnetic powder brake is connected with a torque and rotating speed sensor; the utility model discloses automatically controlled hydraulic drive of vehicle experiment rack system uses the variable plunger pump as power element to magnetic powder brake and inertia flywheel combination conduct the load, carry out the experimental study to vehicle hydraulic drive process, are used for the hydraulic drive system's under different pressure of analysis, different rotational speed and the different load condition energy conversion rate. The utility model discloses a although design and solved the problem that the experiment rack is used for the hydraulic drive system's under the different rotational speed of analysis, different load and the different pressure condition energy conversion rate to a certain extent, it still exists control method too single, can not high-efficiently test other control algorithm's problem.
The utility model discloses a "hydraulic pressure machinery buncher transmission system experiment rack", utility model patent that publication number is CN 209485684U discloses a hydraulic pressure machinery buncher transmission system experiment rack to remedy the problem that the present experiment rack lacked to transmission system. The experiment bench for the transmission system of the hydraulic mechanical continuously variable transmission comprises a mechanical transmission system and an experiment measurement and control system, wherein the experiment measurement and control system processes and analyzes information acquired by a data acquisition card, and an HMCVT industrial control upper computer regulates and controls an engine, the hydraulic mechanical continuously variable transmission to be tested and a magnetic powder brake in the mechanical transmission system. The utility model discloses can analyze the required torque rotational speed of running gear load device and work load device respectively through the transfer case and test hydraulic machine buncher, to hydraulic machine buncher's design, dynamic characteristic and performance test have the significance, this experiment bench has remedied the problem that hydraulic machine experiment bench lacks to a certain extent, but it adopts engine pedal control engine throttle, and then makes corresponding control to engine speed, this experimental method is comparatively crude, can not be fine control to engine output, and then influence the experiment effect; in addition, the control real-time performance of the experiment bench is poor, and all collected information needs to be uploaded to an HMCVT industrial control upper computer through a data collection card for processing and then parameters are issued to an HMCVT lower computer for execution. In the prior art, the related test bed is complex to install, large in occupied area and low in manual operation efficiency in the test working process.
SUMMERY OF THE UTILITY MODEL
The utility model aims at not enough to prior art, the utility model aims at providing an algorithm experiment bench for each hardware component overall arrangement of this test bench is compact, the equipment and manual operation of being convenient for, thereby it is big to solve test bench area, and inconvenient problem operates, makes the user can be according to the algorithm of difference through this experiment bench simultaneously, and the actual effect of all kinds of algorithms of swift efficient test, and then has promoted the efficiency of software testing of different algorithms to very big degree.
The technical scheme of the utility model a hydrostatic transmission algorithm demonstration experiment bench is provided, it includes hydrostatic transmission, hydrostatic transmission discharge capacity controlling means, motor speed controlling means, load braking torque adjustment and rotational speed torque measuring device, well accuse host computer, radiator, oil tank, its characterized in that:
the hydrostatic transmission device is used as a transmission part of the experiment bench and is arranged in the middle of the experiment bench;
the hydrostatic transmission displacement control device comprises a stepping motor and a coupler, wherein an output shaft of the stepping motor is connected with a displacement control shaft of the hydrostatic transmission device through the coupler, and the stepping motor is provided with a synchronous wheel which is connected with an absolute value encoder provided with the synchronous wheel by using a synchronous belt;
the motor rotating speed control device comprises an incremental encoder, an output shaft of the motor is connected with a power input shaft of the hydrostatic transmission device through a flange coupler, and a synchronous wheel is arranged on the motor and is connected with the incremental encoder which is also provided with the synchronous wheel through a synchronous belt;
the load braking torque adjusting and rotating speed torque measuring device comprises a rotating speed torque sensor, a magnetic powder brake and a flange coupler; the input shaft of the rotating speed torque sensor is connected with the power output shaft of the hydrostatic transmission device through a flange coupler, and the output shaft of the rotating speed torque sensor is connected with the magnetic powder brake through the flange coupler;
the central control upper computer is arranged on one side of the test bed close to the operator and used for realizing human-computer interaction; the radiator is arranged on the top of the oil tank.
The hydrostatic transmission device comprises a hydraulic oil filter, a hydrostatic transmission device power output shaft, a hydrostatic transmission device displacement control shaft, a hydrostatic transmission device power input shaft, a hydraulic oil inflow port and a hydraulic oil outflow port, wherein the hydraulic oil inflow port is connected with the output end of the radiator through an oil pipe, the output end of the oil tank is connected with the input end of the radiator through an oil pipe, the hydraulic oil outflow port is connected with the input end of the oil tank through an oil pipe, and the hydraulic oil filter is used for filtering input hydraulic oil through an internal oil circuit of the hydrostatic transmission device;
the output shaft of the motor is connected with the power input shaft of the hydrostatic transmission device through a flange coupler, and is used for transmitting the power of the motor to the hydrostatic transmission device and driving a variable plunger pump in the hydrostatic transmission device so as to drive the whole hydrostatic transmission device to operate;
the output shaft of the stepping motor is connected with the displacement control shaft of the hydrostatic transmission device through a coupler.
Further, the motor rotating speed control device comprises a motor frequency converter, an incremental encoder, a synchronous wheel, a synchronous belt and a second node controller, when the second node controller controls the motor frequency converter to drive the motor to operate according to a set frequency, an output shaft of the motor is connected with a power input shaft of the hydrostatic transmission device through a flange coupling, the synchronous wheel is arranged on the motor, and the motor is connected with the incremental encoder which is also provided with the synchronous wheel through the synchronous belt.
The beneficial effects of the utility model are that, compare with prior art:
(1) the experimental bench uses a Can bus to carry out data communication on each node controller on a hardware layer, has the characteristics of decentralized control, centralized operation and management, and adopts a structural form of multi-layer classification and cooperative autonomy; each part of the experiment bench uses a modular design idea, so that later maintenance is easy, installation between main parts is convenient, the whole layout of the experiment bench is compact, and the occupied area is small.
(2) The closed-loop control of the stepping motor and the motor is realized by using the incremental encoder and the absolute value encoder, and the accuracy of an experimental result generated by the experimental bench is improved.
(3) The information such as oil temperature, flow, current, pressure in the operation process of the experiment bench is sampled and monitored by using various sensors, and corresponding processing can be carried out when abnormality occurs, so that the safety and stability of the experiment system are ensured to the maximum extent, and the safety of experimenters and equipment is guaranteed.
(4) Compared with other experiment racks, the emergency brake button is added for users to perform emergency stop when finding abnormality, and the personnel and equipment are protected.
(5) The nodes of the experiment bench are communicated by adopting a CAN bus, the CAN bus has the advantages of strong real-time performance, long transmission distance, strong anti-electromagnetic interference capability, low cost and the like, and simultaneously, the nodes do not need to be provided with addresses, do not need to be divided into a master node and a slave node, and are beneficial to expanding the functions of the experiment bench in the later period; and the functions of receiving or shielding the ID message, setting priority and the like can be determined by setting the ID of the message, so that the communication efficiency is improved.
Drawings
FIG. 1 is a schematic view of a hydrostatic transmission test rig according to the present invention;
FIG. 2 is a flow chart of the operation of the hydrostatic transmission test rig;
FIG. 3 is a control schematic diagram of the hydrostatic transmission experimental bench of the present invention;
FIG. 4 is a flow chart of the hydrostatic transmission bench work of the present invention;
FIG. 5 is a schematic diagram of a PID control algorithm;
FIG. 6 is a schematic diagram of a fuzzy control algorithm;
FIG. 7 is a schematic diagram of a BP neural network PID control algorithm;
FIG. 8 is a graph of the actual test results obtained using the present system for three types of control algorithms;
fig. 9 is a sub-flowchart of the experiment bench operation status monitoring according to the present invention;
wherein: 1-motor, 2-stepper motor driver, 3-hydrostatic transmission, 4-1-absolute value encoder, 4-2-incremental encoder, 5-motor frequency converter, 6-stepper motor, 7-magnetic particle brake controller, 8-coupler, 9-radiator, 10-magnetic particle brake, 11-speed torque sensor, 12-1-first DC switch power supply, 12-2-second DC switch power supply, 13-relay, 14-emergency brake button, 15-1-first node controller, 15-2-second node controller, 15-3-third node controller, 15-4-fourth node controller, 15-5-fifth node controller, 16-wireless serial module, 17-wireless serial-to-USB module, 18-computer, 19-oil tank, 20-hydraulic oil filter, 21-hydrostatic transmission power output shaft, 22-hydrostatic transmission displacement control shaft, 23-hydrostatic transmission power input shaft, 24-hydraulic oil inlet and 25-hydraulic oil outlet.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 4, the embodiment provides a hydrostatic transmission algorithm demonstration experiment bench, which comprises a hydrostatic transmission, a hydrostatic transmission displacement control device, a motor rotating speed control device, a load braking torque adjusting and rotating speed torque measuring device, a central control upper computer, a radiator, an oil tank and the like.
The hydrostatic transmission device 3 is used as a transmission component of the experimental bench and is used for demonstrating various control algorithms of hydrostatic transmission.
The hydrostatic transmission displacement control device is used for controlling the displacement and the rotating speed of the hydrostatic transmission device.
The motor rotating speed control device is used for adjusting the upper limit of the displacement of the hydrostatic transmission device and carrying out closed-loop control on the rotating speed of the motor.
The load braking torque adjusting and rotating speed torque measuring device is used for adjusting the load of the hydrostatic transmission device and measuring rotating speed torque data of a power output shaft of the hydrostatic transmission device.
The data communication transfer and operation monitoring device is used for monitoring and distributing data to each actuator part of the experiment bench, collecting and uploading data to each sensor and providing guarantee for safe operation of the experiment bench. The device comprises a wireless serial port module 16, an emergency brake button 14, a fourth node controller 15-4 and a fifth node controller 15-5, wherein the actuator part specifically comprises a motor 1, a stepping motor 6, a relay 13, a radiator 9 and a magnetic powder brake 10; the sensor specifically includes: an absolute value encoder 4-1, an incremental encoder 4-2, a rotating speed and torque sensor 11, a current transformer, a temperature sensor, a pressure sensor and a flow sensor.
The central control upper computer is arranged on one side of the test bed close to the operator and used for realizing human-computer interaction; the radiator 9 is arranged on top of the tank 19.
The hydrostatic transmission device 3 comprises a hydraulic oil filter 20, a hydrostatic transmission power output shaft 21, a hydrostatic transmission displacement control shaft 22, a hydrostatic transmission power input shaft 23, a hydraulic oil inflow port 24 and a hydraulic oil outflow port 25, wherein the hydrostatic transmission displacement control shaft 22 controls the inclination angle of an inner swash plate of the hydrostatic transmission device to further control the displacement of the hydraulic oil, and after the flow rate is increased, the rotating speed of the hydrostatic transmission power output shaft is increased.
The hydraulic oil inlet 24 is connected with the output end of the radiator 9 through an oil pipe, the output end of the oil tank 19 is connected with the input end of the radiator 9 through an oil pipe, the hydraulic oil outlet 25 is connected with the input end of the oil tank 19 through an oil pipe, and the hydraulic oil filter 20 filters input hydraulic oil through an internal oil circuit of the hydrostatic transmission device.
The output shaft of the motor 1 is connected with the power input shaft 23 of the hydrostatic transmission device through a flange coupler, and is used for transmitting the power of the motor to the hydrostatic transmission device, and driving a variable plunger pump in the hydrostatic transmission device to further drive the whole hydrostatic transmission device to operate;
the rotating speed torque sensor 11 is arranged between the power output shaft 21 of the hydrostatic transmission device and the magnetic powder brake 10, and the rotating speed torque sensor 11 is used for measuring the rotating speed torque of the power output of the hydrostatic transmission device and providing different braking torques by the magnetic powder brake for variable control.
The hydrostatic transmission displacement control device comprises a second node controller 15-2, a first direct current switch power supply 12-1, a stepping motor driver 2, a coupler 8, a stepping motor 6, an absolute value encoder 4-1, a synchronous wheel and a synchronous belt. The output shaft of the stepping motor 6 is connected with the displacement control shaft 22 of the hydrostatic transmission device through a coupler 8, a synchronous wheel is installed on the stepping motor 6, and the synchronous belt is connected with an absolute value encoder provided with the synchronous wheel by 4-1.
The second node controller 15-2 is written with a real-time control algorithm, and after receiving a target rotation angle, the second node controller controls the stepping motor driver 2 by outputting a corresponding pulse number to further drive the stepping motor 6 to rotate, a coupler 8 is used for driving a displacement control shaft 22 of the hydrostatic transmission device, a synchronizing wheel is matched with a synchronous belt to synchronously drive a rotation angle of an output shaft of the stepping motor 6 to an absolute value encoder 4-1 for detecting the actual rotation angle, and data is transmitted back to the second node controller 15-2 for closed-loop control, wherein the first direct current switch power supply 12-1 supplies power to the stepping motor 6 and the stepping motor driver 2.
The motor rotating speed control device comprises a motor 1 and an incremental encoder 4-2, wherein an output shaft of the motor 1 is connected with a power input shaft 23 of the hydrostatic transmission device through a flange coupler, and a synchronous wheel is arranged on the motor 1 and is connected with the incremental encoder 4-2 which is also provided with the synchronous wheel through a synchronous belt.
After the second node controller 15-2 receives the rotating speed instruction, the motor frequency converter 5 is controlled to drive the motor 1 to operate according to the set frequency according to an internal frequency/rotating speed conversion function, in order to ensure the accuracy of the rotating speed, the synchronizing wheel is matched with the synchronizing belt to synchronously transmit the rotating speed of the output shaft of the motor 1 to the incremental encoder 4-2, so that the actual rotating speed of the motor 1 is measured, and data is transmitted back to the second node controller 15-2, so that the closed-loop rotating speed control of the motor with higher accuracy is realized.
The load braking torque adjusting and rotating speed torque measuring device comprises a magnetic powder brake controller 7, a rotating speed torque sensor 11, a magnetic powder brake 10, a second direct current switch power supply 12-2, a third node controller 15-3 and a flange coupler; the rotating speed and torque sensor 1) is connected with a power output shaft 21 of the hydrostatic transmission device through a flange coupler, an output shaft of the rotating speed and torque sensor 11 is connected with the magnetic powder brake 10 through the flange coupler, and the second direct-current switch power supply 12-2 supplies power to the magnetic powder brake 10 and the magnetic powder brake controller 7.
After the third node controller 15-3 receives the braking torque data, the magnetic powder brake controller 7 is controlled to generate corresponding current, and then the braking torque of the magnetic powder brake 10 is controlled, the rotating speed torque sensor 11 is connected with the power output shaft 21 of the hydrostatic transmission device through a flange coupler and transmits the collected rotating speed torque data back to the third node controller 15-3 through an RS485 bus, after the third node controller 15-3 receives the data, the data is transmitted back to the fourth node controller 15-4 through a CAN bus, then data is packaged, the data is transmitted to a wireless serial port-to-USB module 17 connected with a computer 18 through a wireless serial port module 16, and after the computer 18 receives the data, the data is transmitted to a central control upper computer for processing.
The data communication transfer and operation monitoring device comprises a fourth node controller 15-4, a fifth node controller 15-5, an emergency brake button 14, a wireless serial port module 16, a current transformer, a temperature sensor, a pressure sensor, a flow sensor and a relay 13; after receiving the data packet sent by the upper computer, the fourth node controller 15-4 decodes and verifies the data according to a built-in protocol, and distributes the data to the first node controller 15-1, the second node controller 15-2 and the third node controller 15-3 through the CAN bus, and the corresponding node controller executes a corresponding instruction after receiving the data.
In addition, the part also uses a current transformer, a temperature sensor, a pressure sensor and a flow sensor to respectively collect the power supply current of the magnetic powder brake 10 and the stepping motor driver 2; oil temperature and pressure in the oil tank; the flow rate of the hydraulic oil and the like are analyzed according to the sampled data, and if the oil temperature exceeds a set threshold value, a radiator 9 is started to cool the hydraulic oil; if the sampling current exceeds a set threshold value, the experiment bench may have the conditions of locked rotor, short circuit and open circuit at the moment, the fourth node controller 15-4 controls the corresponding relay 13 to be powered off, and stops the experiment bench according to a certain sequence, and uploads corresponding error information to the upper computer. When the operation is found to be abnormal or the emergency stop is needed manually, the emergency brake button 14 can be pressed, the fourth node controller 15-4 stops the vehicle according to a certain sequence after receiving the emergency stop signal, and information is uploaded to an upper computer, so that the safety of experimenters and equipment is ensured.
The fifth node controller 15-5 will always sample the pulse signal outputted by the fourth node controller 15-4 with a certain frequency, so as to monitor whether the fourth node controller 15-4 is operating normally, if the fourth node controller 15-4 has an error, the fifth node controller 15-5 will replace its operation, and ensure the system stability.
The central control upper computer is compiled by Matlab, and is provided with a data encoder, a data decoder, a data memory, a man-machine interaction interface and an algorithm data interface, and the man-machine interaction function of the module is realized by using Matlab GUI, wherein the man-machine interaction interface comprises a drawing part, a data \ state display part and an interaction button, wherein the drawing part is used for displaying an expected value with a timestamp and an actual sampling value; the algorithm data interface part calls various control algorithms by using Simulink and verifies the actual effects of the various algorithms;
after the wireless serial port module 16 uploads the data packet, the computer receives the data packet through the wireless serial port-to-USB module 17 and transmits the data packet into the upper computer data decoder, the data packet is decoded according to a data protocol, then the decoded data is transmitted into the algorithm data interface and the human-computer interaction interface for display, and meanwhile, the data is added with a timestamp and stored in the excel.
After the data are processed by the algorithm set by the user, the calculated data are added with the timestamp, stored in the excel, displayed on the human-computer interaction interface and transmitted into the data encoder, and processed data packets are transmitted to the experiment bench through the wireless serial port-to-USB module 17 and then processed by the data communication transfer and operation monitoring device.
The embodiment also provides an experimental verification method for demonstrating the experimental bench by the hydrostatic transmission algorithm, which comprises the following steps:
step 1: when the experiment bench is powered on, each controller starts to perform a self-checking program, and if an error is found in the self-checking process, a corresponding error code is returned to the central control upper computer to be displayed, and the process is finished;
step 2: after the self-checking of the experiment bench passes, the fourth node controller 15-4 controls to open the alternating current relays corresponding to the actuators, prepares to perform experiments, sends data packets containing self-checking completion information to the central control upper computer algorithm verification module, displays the data packets on a human-computer interaction interface, and starts an experiment task;
and step 3: the central control upper computer algorithm verification module encodes data generated by the current set value or the selected algorithm into a data packet according to a data protocol and sends the data packet to the experiment bench for execution; meanwhile, the generated data is added with a timestamp, displayed on a drawing interface and stored in an excel document;
and 4, step 4: after receiving the data packet sent by the central control upper computer algorithm verification module, the fourth node controller 15-4 checks and decodes the data packet, wherein the decoded data comprises the rotating speed of the motor 1, the braking torque of the magnetic powder brake 10, the deflection angle data of the displacement control shaft 22 of the hydrostatic transmission device and check information;
and 5: the data obtained by decoding is distributed to a first node controller 15-1, a second node controller 15-2 and a third node controller 15-3 through a CAN bus;
step 6: after receiving the data, the first node controller 15-1, the second node controller 15-2 and the third node controller 15-3 carry out closed-loop control on the rotation angle of the stepping motor 6 and the rotating speed of the motor 1 according to a control algorithm written in the nodes and feedback data of the absolute value encoder 4-1 and the incremental encoder 4-2, carry out open-loop control on the braking torque of the magnetic powder brake 10, simultaneously sample the rotating speed torque data of the power output shaft 21 of the hydrostatic transmission by using the rotating speed torque sensor 11, and return the sampled data to the first node controller 15-1 through the CAN bus;
and 7: the fourth node controller 15-4 collects and analyzes data such as current, oil pressure, hydraulic oil flow rate, hydraulic oil temperature and the like of the experiment bench actuator by using sensors including a current transformer, a pressure sensor, a flow rate sensor and a temperature sensor while the experiment bench operates, codes the data and the rotating speed and torque data according to a protocol, and uploads the coded data and the rotating speed and torque data to the central control upper computer;
and 8: after receiving the data, the upper central control computer firstly decodes and verifies the data packet by using a data decoder, the decoded data such as temperature, flow rate, current, pressure, rotating speed torque and the like are respectively sent to a human-computer interaction interface to be displayed, a timestamp is added to the rotating speed torque, and the data is stored in excel; meanwhile, the data is sent to the selected control algorithm through a data interface for processing, and the algorithm processing result is analyzed;
in the operation process of the experiment bench, when the oil temperature exceeds a set threshold value, the radiator 9 is started to cool the hydraulic oil; when the pressure, the flow rate and the current are abnormal or an upper central control computer sends an experiment completion signal and an emergency brake button 14 is pressed down, a sequential stopping program is executed, namely, the braking torque of the magnetic powder brake 10 completely disappears, the displacement control shaft 22 of the hydrostatic transmission device is controlled to rotate to a zero position, the rotating speed of the power output shaft 21 of the hydrostatic transmission device is changed to 0, then the motor 1 starts to decelerate until the motor completely stops, the relay 13 is powered off, then error information is uploaded to the upper central control computer, and the experiment is finished.
By repeating the steps 3 to 8, different algorithms can be verified.
For example:
the following examples used the BP neural network algorithm, the fuzzy adaptive PID algorithm, and the conventional PID algorithm to test the present experimental bench. Firstly, a corresponding algorithm frame is constructed by using Simulink by the central control upper computer algorithm verification module, as shown in FIG. 5, FIG. 6 and FIG. 7, and then the algorithm frame is connected with a data interface provided by the central control upper computer algorithm verification module for data interaction. Three control methods are adopted for calculation, the rotating speed step response result of the experimental bench is obtained in the process from no-load starting to the change of the rotating speed of the power output shaft 21 of the hydrostatic transmission device being 1000r/min, and as can be seen from the graph of fig. 8, the three control methods can enable the rotating speed of the power output shaft 21 of the hydrostatic transmission device to reach the set value: but the overshoot generated by the traditional PID control algorithm is the largest; compared with the traditional PID algorithm, the fuzzy self-adaptive PID control algorithm has the advantages that overshoot is reduced; the BP neural network PID control algorithm has the best effect in the three algorithms of the test, compared with the other two algorithms of the test, the BP neural network PID control algorithm has the advantages of higher response speed and shorter stabilization time, and the rotating speed of the power output shaft 21 of the hydrostatic transmission device can better follow the given rotating speed of the system.
While the principles of the invention have been described in detail in connection with the preferred embodiments thereof, it will be understood by those skilled in the art that the above-described embodiments are merely illustrative of exemplary implementations of the invention and are not limiting of the scope of the invention. The details in the embodiments do not constitute the limitations of the scope of the present invention, and any obvious changes such as equivalent transformation, simple replacement, etc. based on the technical solution of the present invention all fall within the protection scope of the present invention without departing from the spirit and scope of the present invention.
Claims (3)
1. The utility model provides a quiet hydraulic drive algorithm demonstration experiment bench, its includes quiet hydraulic drive, quiet hydraulic drive discharge capacity controlling means, motor speed controlling means, load braking torque adjustment and rotational speed torque measuring device, well accuse host computer, radiator (9), oil tank (19), its characterized in that:
the hydrostatic transmission device is used as a transmission part of the experiment bench and is arranged in the middle of the experiment bench;
the hydrostatic transmission displacement control device comprises a stepping motor (6), a coupler (8) and an absolute value encoder (4-1), wherein an output shaft of the stepping motor (6) is connected with a displacement control shaft (22) of the hydrostatic transmission device through the coupler (8), a synchronous wheel is installed on the stepping motor (6), and the synchronous wheel is connected with the absolute value encoder (4-1) provided with the synchronous wheel through a synchronous belt;
the motor rotating speed control device comprises an incremental encoder (4-2), an output shaft of the motor (1) is connected with a power input shaft (23) of the hydrostatic transmission device through a flange coupler, a synchronous wheel is arranged on the motor (1), and the motor is connected with the incremental encoder (4-2) which is also provided with the synchronous wheel through a synchronous belt;
the load braking torque adjusting and rotating speed torque measuring device comprises a rotating speed torque sensor (11), a magnetic powder brake (10) and a flange coupler; an input shaft of the rotating speed torque sensor (11) is connected with a power output shaft (21) of the hydrostatic transmission device through a flange coupler, and an output shaft of the rotating speed torque sensor (11) is connected with the magnetic powder brake (10) through the flange coupler;
the central control upper computer is arranged on one side of the test bed close to the operator and used for realizing human-computer interaction; the radiator (9) is arranged on top of the oil tank (19).
2. The hydrostatic transmission algorithm demonstration experimental bench of claim 1, characterized in that:
the hydrostatic transmission device (3) comprises a hydraulic oil filter (20), a power output shaft (21) of the hydrostatic transmission device, a displacement control shaft (22) of the hydrostatic transmission device, a power input shaft (23) of the hydrostatic transmission device, a hydraulic oil inflow port (24) and a hydraulic oil outflow port (25), wherein the hydraulic oil inflow port (24) is connected with the output end of the radiator (9) through an oil pipe, the output end of the oil tank (19) is connected with the input end of the radiator (9) through the oil pipe, the hydraulic oil outflow port (25) is connected with the input end of the oil tank (19) through the oil pipe, and the hydraulic oil filter (20) filters input hydraulic oil through an internal oil circuit of;
the output shaft of the motor (1) is connected with the power input shaft (23) of the hydrostatic transmission device through a flange coupler, and is used for transmitting the power of the motor to the hydrostatic transmission device (3) and driving a variable plunger pump in the hydrostatic transmission device (3) so as to drive the whole hydrostatic transmission device (3) to operate;
the output shaft of the stepping motor (6) is connected with a displacement control shaft (22) of the hydrostatic transmission device through a coupler (8).
3. The hydrostatic transmission algorithm demonstration experimental bench of claim 1, characterized in that:
the motor rotating speed control device comprises a motor frequency converter (5), an incremental encoder (4-2), a synchronizing wheel, a synchronous belt and a second node controller (15-2), wherein the second node controller (15-2) controls the motor frequency converter (5) to drive a motor (1) to run according to a set frequency, an output shaft of the motor (1) is connected with a power input shaft (23) of a hydrostatic transmission device through a flange coupler, the synchronizing wheel is arranged on the motor (1), and the synchronous belt is connected with the incremental encoder (4-2) which is also provided with the synchronizing wheel.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111913474A (en) * | 2020-08-04 | 2020-11-10 | 西南大学 | Hydrostatic transmission device algorithm demonstration experiment bench and experiment method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111913474A (en) * | 2020-08-04 | 2020-11-10 | 西南大学 | Hydrostatic transmission device algorithm demonstration experiment bench and experiment method thereof |
| CN111913474B (en) * | 2020-08-04 | 2024-06-11 | 西南大学 | Hydrostatic transmission device algorithm demonstration experiment bench and experiment method thereof |
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