Research On Control Method Of High Power Shearing Machine

The compression shear testing machine is used for testing the mechanical properties of plate type,basin type rubber bearings and spherical steel bearings of bridges such as highway and railway,such as sagging compression,axial shear and rotation angle under the joint action of pressure and shear force,and detecting the compressive elastic modulus,shear elastic modulus,allowable shear angle and other performance parameters of bridge isolation rubber bearings.With the continuous development of traffic engineering technology,heavy and long-span bridges are gradually increasing,and the bearing capacity requirements of rubber bearings are also increasing.The development of large-scale compression shear testing machine has practical significance.The quality of its control system performance directly affects the quality of its detection performance,system control performance is very important,therefore,this paper for high power(load)compression shear testing machine control system research.The main work contents are as follows:(1)Analysis of vertical loading,horizontal shear,horizontal static double shear working principle and loading conditions of the pressure and shear testing machine,the key components of hydraulic control and electronic control system are selected and analyzed,which lays a foundation for the establishment of mathematical model and simulation analysis of control system.(2)The mathematical models of valve-controlled hydraulic cylinder,proportional reversing valve,amplifier,displacement sensor and pressure sensor are respectively established and derived for the vertical loading system of shear testing machine,and the block diagram of the control system is derived from the mathematical model.A double closed-loop control system for position pressure is proposed,and the stability of the control system is studied by AMEsim.(3)Based on the double closed-loop control system of position pressure,the variable-universe fuzzy PID(VFuzzy PID)algorithm is proposed,and the working principle of fuzzy PID and VFuzzy PID is analyzed respectively.Three kinds of controllers,common PID,fuzzy PID and VFuzzy PID,are designed,and AMEsim-Simulink co-simulation is used to compare and analyze the dynamic performance of the system under the three control modes.The results show that:VFuzzy PID has better robustness.The system has no overshoot,no shock and shorter stability time.The error of experimental displacement is kept within ±0.05%,and the error of experimental force is kept within ±1%.The optimized VFuzzy PID controller is superior to fuzzy PID and ordinary PID in maximum error and average error.(4)According to the control requirements of the vertical loading control system of the compression and shear testing machine,the hardware selection,and the system configuration based on TIA Portal V15(Botu),the PLC program and HMI were written,and the simulation was carried out,and the sensor test and PLC test were carried out,and the results were good.