Testing system with real-time compensation of varying system parameters

Patent metadata

Field	Value
Publication number	US-10866176-B2
Application number	US-201716311846-A
Country	US
Kind code	B2
Filing date	Jun 8, 2017
Priority date	Jun 29, 2016
Publication date	Dec 15, 2020
Grant date	Dec 15, 2020

Abstract

A test system for testing a specimen include (a) a set of actuators for applying a desired time history of load to a specimen, (b) a drive unit connected to each actuator, (c) power generating elements (current/pneumatic/hydraulic) and (d) a controller connected to the drive units, the controller generates a drive signal for the drive unit based on feedback received from output of the specimen and an error derived from the feedback and an input command. The controller generates the drive signal by compensating varying system parameters which are introduced due to nonlinear response of the test system and the specimen, wherein the controller does not require (i) additional measured variable other than a feedback received from the specimen and (ii) a numerical model of the test system and the specimen.

First claim

We claim:

1. A test system for testing a specimen comprising:
an actuator for applying a controlled desired load to a specimen;
a drive unit connected to said actuator;
a controller connected to said drive unit, wherein said controller generates a drive signal for said drive unit based on a feedback received from said specimen and an error derived between an input command and said feedback;
wherein said controller generates said drive signal by compensating varying system parameters which are introduced due to nonlinear response of said test system and said specimen, and wherein said controller eliminates the need of (i) additional measured variables other than said feedback received from said specimen and (ii) a numerical or reference model of said test system and said specimen for compensating said varying system parameters.

2. The test system of claim 1 , wherein said actuator comprises
a top actuator for applying said controlled desired loads on said specimen; and
a bottom actuator for creating external disturbance by changing displacement of said specimen.

3. The test system of claim 2 , wherein said top actuator is instrumented with both force and displacement sensors which are exercised to validate Load Control against said specimen bearing against said bottom actuator, wherein said bottom actuator operates independently under Stroke Control to simulate randomly variable system stiffness as perceived by said top actuator.

4. The test system of claim 2 , further comprising
a compression plate which is connected to a free-end of said top actuator and said bottom actuator, wherein said specimen placed between said compression plate.

5. The test system of claim 1 , wherein said varying system parameter comprises
a first parameter which is introduced due to said specimen which undergoes changes in geometrical dimensions and material properties;
a second parameter which is introduced due to dissipation of energy among the control elements leading to under loadings; and
a third parameter which is introduced due to structure of said actuator interaction that adds energy to the system leading to overloading or control instability.

6. The test system of claim 1 , wherein said controller adapted to compute a first output based on a following equation:
s ( t )= K SG ( P ( t )+ I 2 ( t )+ D ( t )+ F ( t ))
wherein K SG is a gain of said test system P(t) is a proportional gain, I 2 (t) is an integral gain and D(t) is a Feedback-derivative gain and F(t) is a Feed-forward gain.

7. The test system of claim 6 , wherein said controller adapted to compute a predictive system response parameter R(t) based on said first output using the following equation:
R ( t )= f [ S ( t−T D ),Δ y ( t−T D )]

wherein, T D is a derivative time-constant, and y(t) is said feedback.

8. The test system of claim 7 , wherein said controller adapted to compute a second output S C (t) using said predictive system response parameter based on the following equation:
S C ( t )= S ( t )[1+ K S R ( t )]
wherein, K S is a Gain factor on predictive flexibility ratio.

9. The test system of claim 8 , wherein said controller adapted to generate said drive signal based on a following equation:
C ( t )= A ( t )+ I ( t )+ D I ( t )
wherein A(t) is an attenuated component of said second output S C (t); I(t) is a static null component; D I (t) is a dither component.

10. A method for continuous correction of a gain of a controller by accounting stiffness in a test system comprises
receiving an input command;
determining an error based on said input command and a feedback received from a specimen;
generating a drive signal for a drive unit of said test system, wherein said generating said drive signal comprising
computing at least one of a proportional gain, an integral gain, a feedback derivative gain and a feed-forward gain by using said error;
computing a first output based on at least one of said proportional gain, said integral gain, said feedback derivative gain and said feed-forward gain,
computing a predictive system response parameter based on said first output and said feedback,
computing a second output based on said predictive system response parameter and said first output,
processing said second output to obtain a processed output; and
generating said drive signal based on said integral gain, a dither component and said processed output; and

feeding said drive signal to said drive unit of said test system.

11. The method of claim 10 , wherein said processing of said second output comprises
correcting said second output for a potential bias created due to a response of an actuators in said testing system;
attenuating said second output by a system gain constant after correcting said second output for said potential bias.

12. The method of claim 10 , wherein said predictive system response parameter is computed based on said first output and a differential component of said feedback.

13. The method of claim 10 , wherein said first output computed based on a following equation:
s ( t )= K SG ( P ( t )+ I 2 ( t )+ D ( t )+ F ( t ))
wherein K SG is a gain of said test system P(t) is a proportional gain, I 2 (t) is an integral gain and D(t), is a Feedback-derivative gain and F(t) is a Feed-forward gain.

14. The method of claim 13 , wherein said predictive system response parameter R(t) computed based on said first output using the following equation:
R ( t )= f [ S ( t−T D ),Δ y ( t−T D )]

wherein, T D is a derivative time-constant, and y(t) is said feedback.

15. The method of claim 14 , wherein second output S C (t) computed using said predictive system response parameter based on the following equation:
S C ( t )= S ( t )[1+ K S R ( t )]
wherein, K S is a Gain factor on predictive flexibility ratio.

16. The method of claim 15 , wherein said drive signal generated based on a following equation:
C ( t )= A ( t )+ I ( t )+ D I ( t )
wherein A(t) is an attenuated component of said second output S C (t); I(t) is a static null component; D I (t) is a dither component.

Assignees

• Illinois Tool Works

Inventors

• Ramasubbu Sunder
• Ammanagi Somayya

Classifications

• G01N3/10 Primary

  generated by pneumatic or hydraulic pressure (G01N3/18 takes precedence) · CPC title

• G01N2203/0676

  Force, weight, load, energy, speed or acceleration · CPC title

• G01L5/10

  using electrical means · CPC title

• G01B5/30

  for measuring the deformation in a solid, e.g. mechanical strain gauge · CPC title

• G01N2203/0202

  Control of the test · CPC title