CN113094806B - Method for optimizing arrangement of vibration test sensors of tracked vehicle - Google Patents

Method for optimizing arrangement of vibration test sensors of tracked vehicle Download PDF

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CN113094806B
CN113094806B CN202110262009.XA CN202110262009A CN113094806B CN 113094806 B CN113094806 B CN 113094806B CN 202110262009 A CN202110262009 A CN 202110262009A CN 113094806 B CN113094806 B CN 113094806B
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杨书仪
廖力力
凌启辉
胥小强
陈哲吾
戴巨川
何兴云
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Hunan University of Science and Technology
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Abstract

The invention discloses a sensor arrangement optimization method for vibration testing of a tracked vehicle, which comprises the steps of firstly establishing a three-dimensional model of a tracked vehicle body, carrying out finite element calculation and modal analysis, and selecting a primary selected measuring point according to a modal analysis result; then selecting m measuring point positions on a three-dimensional model of the tracked vehicle body as primary measuring points, namely constraint conditions for sensor arrangement optimization, calculating modal displacements of the m measuring points and inputting the modal displacements as data; setting a modal stationarity criterion as an optimization objective function, aiming at the problems that the PSO algorithm is premature in convergence and easy to fall into local optimum in the multi-dimensional optimization of the vibration test sensor arrangement of the tracked vehicle, setting algorithm parameters and carrying out optimization calculation; and finally, arranging the sensors according to the optimization result, carrying out vibration test, and evaluating the optimization result. The invention solves the problem of sensor arrangement redundancy in the vibration test of the tracked vehicle, and provides support for the structure optimization of the tracked vehicle and the light weight design of the vehicle in the practical application of engineering.

Description

Method for optimizing arrangement of vibration test sensors of tracked vehicle
Technical Field
The invention relates to the technical field of vehicle vibration testing, in particular to a sensor arrangement optimization method for vibration testing of a tracked vehicle.
Background
The tracked vehicle plays an important role in the fields of modern military, building, agriculture and the like due to the strong off-road performance and trafficability.
Because the structure of the tracked vehicle is huge and the preparation quality is high, the maneuverability of the tracked vehicle during operation is influenced, and therefore the light weight design of the body structure of the tracked vehicle is necessary. Vibration response of the tracked vehicle under various excitation effects is measured actually through a sensing test means, and theoretical basis and engineering practice guidance can be provided for structure optimization and lightweight design of the tracked vehicle.
At present, in the vibration test of large-size structural members, sensor arrangement is always a problem of great concern. The sensor arrangement redundancy is caused by the excessive arrangement quantity of the sensors, and the economic cost is increased; if the number of the sensors is too small, the error of the test result is large, and the structure cannot be scientifically and reasonably evaluated.
Sensor layout optimization is essentially a combinatorial optimization problem, i.e. a finite number of sensors are assigned to a structural degree of freedom node. Therefore, the invention provides the sensor arrangement optimization method for the vibration test of the tracked vehicle, which effectively solves the problem of sensor arrangement redundancy in the vibration test of the tracked vehicle and provides technical support for the structure optimization and the light weight design of the tracked vehicle in the practical engineering application.
Disclosure of Invention
In order to solve the technical problems, the invention provides an optimization method for the arrangement of the sensors for the vibration test of the tracked vehicle, which effectively reduces the number of the sensors and saves the economic cost.
The technical scheme adopted by the invention is as follows:
a method for optimizing the arrangement of sensors for vibration testing of tracked vehicles is characterized by comprising the following implementation steps:
(1) according to modal parameters of each node of the tracked vehicle body, the complete dynamic characteristics of the tracked vehicle body can be accurately represented, a three-dimensional model of the tracked vehicle body is established, finite element calculation and modal analysis are carried out, and the selection of a primary selection measuring point is carried out according to modal analysis results;
(2) according to the modal analysis result in the step (1), selecting m measuring point positions on a three-dimensional model of a tracked vehicle body as primary measuring points, namely constraint conditions for sensor arrangement optimization, numbering the m measuring points from 1 to m by using Arabic numerals, calculating the first 8-order modal displacement of the m measuring points, and inputting the modal displacement as optimized calculation data;
(3) on the basis of the first two steps, selecting the minimum off-diagonal element value based on a modal confidence factor (MAC) matrix as a sensor optimization arrangement criterion, namely a target function of subsequent optimization calculation, and substituting the minimum off-diagonal element value into the first 8-order modal displacement of the initially selected measuring point to obtain the off-diagonal element values of the modal confidence factor matrixes at different sensor arrangement positions;
(4) a particle swarm optimization algorithm (PSO-IWLF) with an inertia weight value cooperated with a learning factor for nonlinear dynamic adjustment is adopted as an arrangement optimization algorithm of the vibration test sensor of the tracked vehicle, wherein the inertia weight value cooperated with the learning factor is changed in an exponential function characteristic; and setting a boundary processing strategy of an algorithm according to the constraint condition of sensor arrangement optimization, and obtaining a sensor arrangement position combination with the minimum off-diagonal element value of the modal confidence factor matrix through calculation iteration.
(5) And (4) comprehensively considering the test cost and the test effect, determining an optimal arrangement scheme according to the arrangement result of the tracked vehicle vibration test sensors optimized in the step (4), arranging the sensors at corresponding measuring points of the tracked vehicle body, and evaluating the optimization result through a vibration test.
Further, the mode analysis result in the step (1) is a mode distribution result of the tracked vehicle body, and the nodes of the tracked vehicle body are sequenced from large to small according to the mode intensity.
Further, the measuring points are selected in the step (2) through primary selection of the vehicle body of the tracked vehicle, and the front m measuring points are selected densely according to the mode.
Further, the step (3) is represented by the formula
Figure BDA0002970421300000031
Calculating off-diagonal element values of modal confidence factor matrixes of the initially selected measuring points and the combinations thereof on the tracked vehicle body;
wherein the content of the first and second substances,
Figure BDA0002970421300000032
an ith order modal vector of a modal confidence factor matrix representing the initially selected measuring points and the combination thereof,
Figure BDA0002970421300000033
and j-th order modal vector of the modal confidence factor matrix representing the initially selected measuring points and the combination thereof.
Further, the sensor arrangement optimization calculation method in the step (4) is implemented in a Matlab calculation tool aiming at the problems that the sensor arrangement is optimized in a multi-dimensional mode in the vibration test of the tracked vehicle, the PSO algorithm is premature in convergence and easy to fall into local optimum.
Further, the mathematical expression that the inertia weight value of the PSO-IWLF algorithm in the step (4) cooperates with the learning factor to present exponential function characteristic change is:
Figure BDA0002970421300000034
in the formula: omega is called inertia weight and its value is non-negative; c. C1Individual learning factors for each particle, c2A social learning factor for each particle; omegamaxAnd ωminRespectively the maximum value and the minimum value of the inertia weight; a and b are constants; t represents the current iteration number of the arrangement optimization calculation of the vibration test sensor of the tracked vehicle; and T represents the maximum iteration number set by the optimization calculation of the arrangement of the vibration test sensors of the tracked vehicle.
Further, the boundary processing strategy in the step (4) is mathematically expressed as:
Figure BDA0002970421300000041
Figure BDA0002970421300000042
in the formula: v. ofmax、vminUpdating the maximum and minimum speed, x, for the sensor position in the vibration test of the tracked vehiclemax、xminIs a boundary value of the sensor arrangement position.
Further, in the vibration test in the step (5), the single-shaft vibration and sensor is arranged at the corresponding measuring point position of the body of the tracked vehicle according to the optimal sensor arrangement scheme, and a vibration excitation device is adopted to measure the body response signal of the tracked vehicle.
Further, the sensor is a single-axis vibration acceleration sensor.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
aiming at the tracked vehicle, the vibration acceleration sensors are arranged by adopting an improved particle swarm optimization algorithm, and the optimal arrangement of the positions and the number of the sensors is realized through repeated iteration, so that the problem of sensor arrangement redundancy is effectively solved, and the economic cost of the test is reduced; the method is simple in steps and easy to implement, and provides technical support for a subsequent vibration test of the tracked vehicle.
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FIG. 1 illustrates implementation steps of a method for optimizing the arrangement of sensors in a vibration test of a tracked vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a tracked vehicle half-vehicle three-dimensional model and meshing according to an embodiment of the invention.
FIG. 3 is a schematic diagram illustrating the selection of a primary measurement point for a semi-vehicle of a tracked vehicle according to an embodiment of the present invention.
FIG. 4 shows the first 8-order modal displacement values of the primary selected points of the semi-vehicle of the tracked vehicle according to the embodiment of the invention.
Fig. 5 is a schematic diagram of a PSO-IWLF algorithm implementation flow according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of parameter setting of a PSO-IWLF algorithm according to an embodiment of the present invention.
FIG. 7 is a schematic diagram of an optimized sensor arrangement for a semi-vehicle vibration test of a tracked vehicle according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of an optimal arrangement of sensors for half-car vibration testing of a tracked vehicle according to an embodiment of the present invention.
Fig. 9 is a schematic view of a vibration excitation device according to an embodiment of the present invention.
In the figure: a-a tracked vehicle body b-a suspension system c-a bogie wheel d-a hydraulic vibration exciter.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
FIG. 1 illustrates implementation steps of a method for optimizing the arrangement of sensors in a vibration test of a tracked vehicle according to an embodiment of the present invention. As shown in fig. 1, step S1 is to establish a three-dimensional model of the tracked vehicle body, perform finite element calculation and modal analysis, and select a primary selected measurement point according to a result of the modal analysis. And step S2, according to the modal analysis result of the step S1, selecting m measuring point positions on the three-dimensional model of the tracked vehicle body as primary selected measuring points, namely constraint conditions for sensor arrangement optimization, and coding and calculating the first 8-order modal displacement of the m measuring points. Step S3 selects the minimum off-diagonal element value based on the modal confidence factor (MAC) matrix as the sensor optimization arrangement criterion, i.e., the objective function of the subsequent optimization calculation, and substitutes the minimum off-diagonal element value into the first 8-order modal displacement of the initially selected point to obtain the off-diagonal element values of the modal confidence factor matrix at different sensor arrangement positions. Step S4, a particle swarm optimization algorithm (PSO-IWLF) with an inertia weight value cooperated with learning factor nonlinear dynamic adjustment is adopted as an arrangement optimization algorithm of the vibration test sensor of the tracked vehicle, wherein the inertia weight value cooperated with learning factor is changed in an exponential function characteristic; and setting a boundary processing strategy of an algorithm according to the constraint condition of sensor arrangement optimization, and obtaining a sensor arrangement position combination with the minimum off-diagonal element value of the modal confidence factor matrix through calculation iteration. And S5, comprehensively considering the test cost and the test effect, determining an optimal arrangement scheme according to the arrangement result of the tracked vehicle vibration test sensors optimized in the step S4, arranging the sensors at corresponding measuring point positions of the tracked vehicle body, and evaluating the optimization result through a vibration test.
The following further describes the optimization method of the sensor arrangement for vibration testing of the tracked vehicle by a specific example.
The tracked semi-vehicle can also well represent the vertical acceleration of the mass center of the vehicle body and the change of the pitch angle acceleration of the vehicle body around the mass center axis of the vehicle body, so that the tracked semi-vehicle is used as a sensor arrangement optimization object in the embodiment.
Fig. 2 is a schematic diagram of a three-dimensional model and grid division of a semi-vehicle of a tracked vehicle according to an embodiment of the present invention, where Ansys is adopted to model the semi-vehicle of the tracked vehicle, a vehicle body is divided into 222117 nodes in total, the number of the units is 112787, the degrees of freedom in the z-axis direction and the rotation around the x-axis of the semi-vehicle of the tracked vehicle are released, and the remaining degrees of freedom are constrained to serve as boundary conditions of the model and perform subsequent modal analysis.
FIG. 3 is a schematic diagram illustrating the selection of a primary measurement point for a semi-vehicle of a tracked vehicle according to an embodiment of the present invention. In the specific embodiment of the layout optimization of the semi-vehicle vibration test sensors of the tracked vehicle, 10 measuring point positions are selected from the front upper inclined plate, the cross beam, the bottom plate and the like of the semi-vehicle of the tracked vehicle as primary selection measuring points according to modal analysis results, the 10 measuring points are numbered from 1 to 10 by Arabic numerals, and the first 8-order modal displacement of the 10 measuring points is calculated and input as data of optimization calculation.
Fig. 5 is a schematic diagram of a PSO-IWLF algorithm implementation flow according to an embodiment of the present invention. As shown in fig. 5, a particle swarm optimization (PSO-IWLF) with nonlinear dynamic adjustment of the inertial weight in cooperation with the learning factor is adopted as the arrangement optimization of the sensors for the semi-vehicle vibration test of the tracked vehicle, wherein the inertial weight in cooperation with the learning factor changes exponentially. The specific update strategy is as follows:
Figure BDA0002970421300000071
in the formula: omega is called inertia weight and its value is non-negative; c. C1Individual learning factors for each particle, c2A social learning factor for each particle; omegamaxAnd ωminRespectively the maximum value and the minimum value of the inertia weight; a and b are constants;t represents the current iteration times of the arrangement optimization calculation of the semi-vehicle vibration test sensor of the tracked vehicle; and T represents the maximum iteration number set by the arrangement optimization calculation of the semi-vehicle vibration test sensor of the tracked vehicle.
Step S7 is the setting of the PSO-IWLF algorithm parameters, which in this example are specifically set as shown in fig. 6.
Step S8 is to initialize the arrangement position and the updating speed of the vibration test sensor of the semi-vehicle of the tracked vehicle through formulas
Figure BDA0002970421300000072
Calculating the off-diagonal element values of modal confidence factor matrixes of different sensor arrangement positions, and initializing historical optimal arrangement positions f of the sensorspbestAnd historical optimal placement position f of sensor groupgbest(ii) a Wherein the content of the first and second substances,
Figure BDA0002970421300000073
an ith order modal vector of a modal confidence factor matrix representing the initially selected measuring points and the combination thereof,
Figure BDA0002970421300000074
and j-th order modal vector of the modal confidence factor matrix representing the initially selected measuring points and the combination thereof.
Step S9, iteration times of the arrangement optimization calculation of the semi-vehicle vibration test sensors of the tracked vehicle are judged, if the iteration times exceed the maximum iteration times, the algorithm is ended, and the optimal combination of the arrangement positions of the current sensors is output; if the maximum iteration number is not exceeded, the algorithm continues to calculate iteration until the maximum iteration number is reached.
Step S10 is to update the sensor arrangement position and the position change speed, and because there is a constraint condition of the sensor arrangement position in the sensor arrangement optimization of the half-car vibration test of the tracked vehicle, a boundary processing strategy of an algorithm needs to be set to prevent an invalid arrangement condition, and the specific strategy is as follows:
Figure BDA0002970421300000081
Figure BDA0002970421300000082
in the formula: v. ofmax、vminUpdating the maximum value and the minimum value, x, of the speed of the sensor position in the vibration test of the semi-vehicle of the tracked vehiclemax、xminIs a boundary value of the sensor arrangement position.
FIG. 7 is a schematic diagram of an optimized sensor arrangement for a semi-vehicle vibration test of a tracked vehicle according to an embodiment of the present invention. As shown in fig. 7, the sensor arrangement optimization calculation for the semi-vehicle vibration test of the tracked vehicle is implemented in the Matlab calculation tool, and the minimum value of the off-diagonal elements of the modal confidence factor matrix under each sensor arrangement position combination is obtained. It can be seen from the figure that the sensor arrangement positions 3 to 5, 9 to 10 occur more frequently as the number of sensor arrangements increases. When 6 sensors are arranged, the optimal fitness value is 0.468, the arrangement number of the sensors is continuously increased backwards, the fitness difference is not more than 0.005, and the improvement on the arrangement effect of the measuring points is not greatly contributed. Therefore, considering the comprehensive cost and the test effect, the arrangement position of 6 sensors is reasonable [2345910 ].
Fig. 8 is a schematic diagram of an optimal arrangement of sensors for half-car vibration testing of a tracked vehicle according to an embodiment of the present invention. According to the optimal sensor arrangement scheme shown in fig. 8, a vibration acceleration sensor is arranged on a tracked vehicle body a in fig. 9, a random excitation signal is simulated through a hydraulic vibration exciter d, a response signal of the tracked vehicle body a is measured, and then an optimization result is evaluated.
The invention is not the best known technology.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (9)

1. A method for optimizing the arrangement of sensors for vibration testing of tracked vehicles is characterized by comprising the following implementation steps:
(1) according to modal parameters of each node of the tracked vehicle body, the complete dynamic characteristics of the tracked vehicle body can be accurately represented, a three-dimensional model of the tracked vehicle body is established, finite element calculation and modal analysis are carried out, and the selection of a primary selection measuring point is carried out according to modal analysis results;
(2) according to the modal analysis result in the step (1), selecting m measuring point positions on a three-dimensional model of a tracked vehicle body as primary measuring points, namely constraint conditions for sensor arrangement optimization, numbering the m measuring points from 1 to m by using Arabic numerals, calculating the first 8-order modal displacement of the m measuring points, and inputting the modal displacement as optimized calculation data;
(3) on the basis of the first two steps, selecting the minimum off-diagonal element value based on the modal confidence factor MAC matrix as a sensor optimization arrangement criterion, namely a target function of subsequent optimization calculation, substituting the minimum off-diagonal element value into the first 8-order modal displacement of the initially selected measuring point to obtain the off-diagonal element values of the modal confidence factor matrixes at different sensor arrangement positions;
(4) a particle swarm optimization algorithm PSO-IWLF with an inertia weight value cooperated with learning factors for nonlinear dynamic adjustment is adopted as an arrangement optimization algorithm of the vibration test sensor of the tracked vehicle, wherein the inertia weight value cooperated with the learning factors is changed in an exponential function characteristic; setting a boundary processing strategy of an algorithm according to a constraint condition of sensor arrangement optimization, and obtaining a sensor arrangement position combination with the minimum off-diagonal element value of a modal confidence factor matrix through calculation iteration;
(5) and (4) comprehensively considering the test cost and the test effect, determining an optimal arrangement scheme according to the arrangement result of the tracked vehicle vibration test sensors optimized in the step (4), arranging the sensors at corresponding measuring points of the tracked vehicle body, and evaluating the optimization result through a vibration test.
2. A method for optimizing the layout of sensors for vibration testing of tracked vehicles according to claim 1, characterized in that: and (3) the mode analysis result in the step (1) is a mode distribution result of the tracked vehicle body, and all nodes of the tracked vehicle body are sequenced according to the mode intensity from large to small.
3. A method for optimizing the layout of sensors for vibration testing of tracked vehicles according to claim 1, characterized in that: and (3) selecting the primarily selected measuring points of the body of the tracked vehicle in the step (2), and intensively selecting the front m measuring points according to the mode.
4. A method for optimizing the layout of sensors for vibration testing of tracked vehicles according to claim 1, characterized in that: the step (3) is carried out by a formula
Figure FDA0003457179450000021
Calculating off-diagonal element values of modal confidence factor matrixes of the initially selected measuring points and the combinations thereof on the tracked vehicle body;
wherein the content of the first and second substances,
Figure FDA0003457179450000022
an ith order modal vector of a modal confidence factor matrix representing the initially selected measuring points and the combination thereof,
Figure FDA0003457179450000023
and j-th order modal vector of the modal confidence factor matrix representing the initially selected measuring points and the combination thereof.
5. A method for optimizing the layout of sensors for vibration testing of tracked vehicles according to claim 1, characterized in that: the sensor arrangement optimization calculation method in the step (4) is implemented in a Matlab calculation tool aiming at the problems that sensor arrangement is optimized in a multi-dimensional mode in vibration test of the tracked vehicle, a PSO algorithm is premature in convergence and easy to fall into local optimum.
6. A method for optimizing the layout of sensors for vibration testing of tracked vehicles according to claim 1, characterized in that: the mathematical expression that the inertia weight value of the PSO-IWLF algorithm in the step (4) cooperates with the learning factor to present exponential function characteristic change is as follows:
Figure FDA0003457179450000031
in the formula: omega is called inertia weight and its value is non-negative; c. C1Individual learning factors for each particle, c2A social learning factor for each particle; omegamaxAnd ωminRespectively the maximum value and the minimum value of the inertia weight; a and b are constants; t represents the current iteration number of the arrangement optimization calculation of the vibration test sensor of the tracked vehicle; and T represents the maximum iteration number set by the optimization calculation of the arrangement of the vibration test sensors of the tracked vehicle.
7. A method for optimizing the layout of sensors for vibration testing of tracked vehicles according to claim 1, characterized in that: the mathematical expression of the boundary processing strategy in the step (4) is as follows:
Figure FDA0003457179450000032
Figure FDA0003457179450000033
in the formula: v. ofmax、vminUpdating the maximum and minimum speed, x, for the sensor position in the vibration test of the tracked vehiclemax、xminIs a boundary value of the sensor arrangement position.
8. A method for optimizing the layout of sensors for vibration testing of tracked vehicles according to claim 1, characterized in that: in the vibration test in the step (5), the single-shaft vibration and sensor is arranged at the corresponding measuring point position of the body of the tracked vehicle according to the optimal sensor arrangement scheme, and a vibration excitation device is adopted to measure the body response signal of the tracked vehicle.
9. A method for optimizing the layout of sensors for vibration testing of tracked vehicles according to claim 1, characterized in that: the sensor is a single-axis vibration acceleration sensor.
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