Product Overview

Qtcreate Technical ‘s Lingdong controller series is oriented to high-frequency and high-precision electro-hydraulic / electric servo control scenarios. The original force-position hybrid control algorithm is used to realize the hybrid decoupling control of force / torque and position, which meets the requirements of high-frequency loading test and precise control of force and position in robot motion control . The Lingdong series controller is characterized by hard real-time performance, high dynamic performance, versatility, stability, and reliability.It provides a variety of input and output interfaces and bus expansion interfaces, and has unified software interface configuration function. It can be used in dynamic loading, multi-channel coordinated static / fatigue / durability loading test, electromechanical dynamic performance test, robot motion control, parallel precision motion control and other fields.

• Built-in advanced fully digital closed-loop control algorithm and motion disturbance elimination algorithm;
• Based on a real-time system, the maximum closed-loop control frequency can reach 10 kHz;
• Distributed architecture, facilitating large-scale channel expansion;
• Supports multiple control modes including open-loop control, position control, static load control, dynamic load control and speed control;
• The original kinematic decoupling algorithm and dynamic decoupling algorithm achieve significant elimination of motion disturbance;
• Supports multi-channel and multi-point coordinated loading, with a maximum of 500 channels;
• Supports application scenarios such as electro-hydraulic servo control and electric servo control;
• Supports interconnection with external systems via fiber-optic reflective memory, with high-speed communication capability with external systems;
• Supports clock synchronization with external systems;
• Supports BNC analog input and output, external commands, and calibration by external frequency sweep instruments;
• Supports real-time data interconnection with external data acquisition systems.

Typical Application Topology 

Lingdong A-Series

The Lingdong A-series coordinated loading controller adopts a centralized control architecture and supports up to 32 loading channels.

• Centralized controller based on a standard rack-mounted chassis;
• Integrated real-time scheduling and servo control;
• Supports multi-channel coordinated control;
• Modular expansion design, supporting up to 32 loading channels;
• Closed-loop control frequency of up to 5 kHz per channel;
• Supports reflective memory and clock synchronization.

Lingdong A-4

6U rack-mounted configuration, supporting up to 4 loading channels.

Lingdong A-8

8U rack-mounted configuration, supporting up to 8 loading channels per unit. Expansion via the expansion bus is supported, allowing scalability up to 32 loading channels.

Lingdong A-8E

 Expansion chassis for the Lingdong A-8, featuring an 8U rack-mounted configuration. Each chassis supports expansion of up to 8 loading channels and connects to the Lingdong A-8 through the expansion bus, allowing system expansion up to 32 loading channels.

Lingdong B-Series

The Lingdong B-series coordinated loading controller adopts a distributed architecture and mainly consists of the Lingdong B main controller, the Lingdong B-E expansion chassis,SCU and VCU.

Lingdong B Main Controller

The Lingdong B controller main unit includes one real-time scheduling unit with up to four built-in Servo Control Units (SCUs). Each SCU servo control unit corresponds to one servo loading channel.

The real-time scheduling unit operates on a real-time operating system and real-time scheduling software, enabling real-time communication with the host computer, external systems (such as flight simulation systems), and servo control units. It performs real-time scheduling and computation for all connected loading control channels.

Lingdong B-E Expansion Chassis

The Lingdong B-E is the expansion chassis for the Lingdong B system. Through the expansion bus, each Lingdong B-E can features 9 expansion slots

Control Unit (SCU)

Main features include:

• Maximum control update rate: 10 kHz;
• Feedback inputs: Two load feedback inputs and one position feedback input. Load signals support bidirectional shunt calibration and bridge excitation compensation, with feedback acquisition accuracy of ≤±0.05% F.S.;

• Control outputs: One enable output and one servo control output. Supports both voltage and current control modes, with adjustable servo valve dither;

• BNC analog input/output, plus general-purpose analog and digital I/O;

• Independent safety protection for each channel, including over-limit protection, tracking error protection, sensor open-circuit detection, and safety interlock.

Vehicle Control Unit (VCU)

The Vehicle Control Unit (VCU) is primarily used for hydraulic station valve group control, enabling scalable multi-station control.Main features include:

• Each VCU controls up to two hydraulic stations;Each station provides two independent solenoid valve outputs for shutdown, low-pressure, and high-pressure control of hydraulic substation solenoid valves;

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  Additional hydraulic stations can be added by expanding the system with VCU modules;

• Supports external emergency stop (E-stop) inputs and safety interlock protection.

Valve Driver Unit (VDU)

The Valve Driver Unit (VDU) is designed for applications requiring independent solenoid valve drive control for each electro-hydraulic loading channel.

The Servo Control Unit (SCU) provides per-channel enable signals to control the solid-state relays integrated within the VDU, enabling two-channel solenoid valve drive control for each loading channel. Each VDU provides 16 solenoid valve drive outputs and supports up to eight loading channels.

Attachments and Optional Accessories

Power Supply

The Power Supply Unit (PSU) provides power for the entire Lingdong-B loading system, including power supply for SCU/VCU, VCU drive power supply, power supply for other input and output modules, as well as 24 V and 15 V linear power supplies. The PSU is equipped with voltage meters for each power output channel to facilitate direct observation of output voltages.

A single PSU is fitted with 6 aviation connectors to meet the power supply requirement of up to 54 channels simultaneously. Each connector provides three types of power outputs with different specifications:

• 24 V / 450 W: for main chassis / expansion chassis power supply

• 24 V / 20 W: sensor excitation power supply

• 15 V / 10 W: sensor excitation power supply

Input/Output Signal Expansion Modules

Multiple input/output modules can be deployed to expand additional I/O signals:

• General Multi-function I/O Module (GMU)
• General Analog I/O Module (GAU)
• General Digital I/O Module (GDU)
• General Bridge Signal Acquisition Module (GBU)

Cables and Connections

Cables

Three main types of cables are used for the equipment: power cables, control signal cables and earthing cables.

Power cables: GB standard 3-core power cable is recommended, rated 250V/10A, 3×1.0mm², with CCC certification, oil-resistant PVC sheath and a maximum length of 5 meters.

Control signal cables: Twisted pair shielded cable is recommended, conductor cross-sectional area ≥0.2mm², high-coverage copper braid (≥85%), oil-resistant PVC sheath and a maximum length of 50 meters. (Note: Contact after-sales service for custom cables if the cable length exceeds 50 meters.)

Earthing cables: The recommended cross-sectional area of earthing cables shall be at least 2.5mm² to provide a low-impedance path for fault current and ensure reliable operation of protective devices.

Connections

Cables shall have clear and unique identification marks. Quick-plug self-locking connectors are adopted for one-to-one matching connection with equipment interfaces.

Cable Model Description