CN114545991A - Vibration control method and device for mechanical equipment and computer equipment - Google Patents
Vibration control method and device for mechanical equipment and computer equipment Download PDFInfo
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- CN114545991A CN114545991A CN202210166253.0A CN202210166253A CN114545991A CN 114545991 A CN114545991 A CN 114545991A CN 202210166253 A CN202210166253 A CN 202210166253A CN 114545991 A CN114545991 A CN 114545991A
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Abstract
An embodiment of the present application provides a vibration control method of a mechanical device, the method including: obtaining a vibration transfer function of a target control node to each control node except the target control node; constructing a topological connection relation among all control nodes, and acquiring at least one coupling coefficient matrix, wherein the coupling coefficient matrix comprises at least one normalized coupling coefficient; acquiring vibration data of at least one control node on mechanical equipment through a vibration sensor; continuously updating the actuation strength of the control nodes by an FXLMS algorithm based on a coupling coefficient matrix and a vibration transfer function according to the topological connection relation among the control nodes; and if the mean square value of the vibration data of one control node is converged in the fixed mean square value range, stopping updating the actuating strength of the control node. The vibration of mechanical equipment in work can be stably, simply and efficiently controlled to a certain extent.
Description
Technical Field
The application relates to the field of mechanical active vibration control, in particular to a vibration control method and device of mechanical equipment and computer equipment.
Background
The active control technology has become an important development direction for controlling mechanical vibration by virtue of the advantages of strong adaptability, good control effect, low energy consumption and the like. The basic principle of the technology is to control vibration by vibration, namely, an actuator is arranged at a non-node position of a main modal of the structure, and real-time adjustment is carried out by a controller based on a feedback signal of a sensor, so that the vibration response of an active control force generated by the actuator at the position is equal to the amplitude and opposite to the phase of the structure vibration caused by an external disturbance force, and the vibration of a target point is counteracted, and finally, the vibration control is realized. However, due to the large number and discrete distribution of vibration sources, the number of sensors and actuators required for the active control scheme is large. Aiming at the centralized active control strategy widely adopted at present, the control system becomes complicated due to too many sensors and actuators, and even the performance and stability of the control system are influenced, while the distributed control strategy cannot ensure the stability of the system.
Therefore, a stable, simple and efficient vibration control method is urgently needed by those skilled in the art to control the vibration of the mechanical equipment.
Disclosure of Invention
The embodiment of the application provides a vibration control method and device of mechanical equipment and computer equipment, and further mechanical vibration can be stably, simply and efficiently controlled at least to a certain extent.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.
According to an aspect of the present application, there is provided a vibration control method of a mechanical apparatus, the method including: the method comprises the steps that a vibration transfer function of a target control node to each control node except the target control node is obtained, the vibration transfer function is used for representing the vibration transfer relation from the target control node to each control node except the target control node, and the target control node comprises any one of at least one control node on mechanical equipment; constructing a topological connection relation among all control nodes, and acquiring at least one coupling coefficient matrix, wherein the coupling coefficient matrix comprises at least one normalized coupling coefficient, and the normalized coupling coefficient is used for representing the vibration influence degree of the target control node on all the control nodes except the target control node; acquiring vibration data of at least one control node on the mechanical equipment through a vibration sensor; continuously updating the actuation strength of the control nodes through an FXLMS algorithm based on the coupling coefficient matrix and the vibration transfer function according to the topological connection relation among the control nodes; and if the mean square value of the vibration data of the at least one control node is converged in a fixed mean square value range, stopping updating the actuation strength of the control node.
In some embodiments of the present application, the obtaining a vibration transfer function of the target control node to each control node except the target control node includes: and after isolating a vibration source and carrying out open-loop excitation on the target control node, acquiring a vibration transfer function of the target control node to each control node except the target control node through an LMS algorithm.
In some embodiments of the present application, the obtaining at least one coupling coefficient matrix includes: after isolating a vibration source and carrying out open-loop excitation on the target control node, determining the normalized coupling coefficient of the target control node to each control node except the target control node; determining a coupling coefficient matrix of the target control node based on the normalized coupling coefficient.
In some embodiments of the present application, the determining a normalized coupling coefficient of the target control node for each control node other than the target control node includes: after isolating a vibration source and carrying out open-loop excitation on the target control node, acquiring vibration data of each control node except the target control node; determining a reference control node according to the vibration data of all the control nodes except the target control node; and taking the vibration data of the reference control node as a normalization reference, normalizing the vibration data of each control node except the target control node, and determining the normalized coupling coefficient of the target control node to each control node except the target control node.
In some embodiments of the present application, the determining a normalized coupling coefficient of the target control node for each control node other than the target control node further includes: and if the ratio of the vibration data of the control node to the vibration data of the reference control node is smaller than a preset ratio, determining that no coupling relation exists between the control node and the target control node, and determining a normalized coupling coefficient corresponding to the control node as 0.
In some embodiments of the present application, said continuously updating the actuation strengths of the control nodes according to the topological connection relationship between the control nodes based on the coupling coefficient matrix and the vibration transfer function by using an FXLMS algorithm includes: acquiring the actuation strength of each control node; determining a target change model of the vibration data of the at least one control node according to the topological connection relation among the control nodes and based on the coupling coefficient matrix, the vibration transfer function and the actuating strength of the control nodes, wherein the target change model is used for representing the change condition of the vibration data of the at least one control node; and continuously updating the actuating strength of the control node through an FXLMS algorithm based on the target change model.
In some embodiments of the present application, the determining a target variation model of the vibration data of the at least one control node based on the coupling coefficient matrix, the vibration transfer function, and the actuation strength of each control node according to the topological connection relationship between each control node includes: generating an initial change model of the vibration data of the at least one control node based on the vibration transfer function and the actuating strength of each control node, wherein the initial change model is used for representing the change condition of the vibration data of the at least one control node when the coupling relation is not considered; acquiring a normalized coupling coefficient between each control node in the coupling coefficient matrix according to the topological connection relation between each control node; and modifying the initial change model based on the normalized coupling coefficient between the control nodes to generate a target change model of the vibration data of the at least one control node.
According to an aspect of the present application, there is provided a vibration control apparatus of a mechanical device, the apparatus including: the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a vibration transfer function of a target control node to each control node except the target control node, the vibration transfer function is used for representing the vibration transfer relation from the target control node to each control node except the target control node, and the target control node comprises any one of at least one control node on mechanical equipment; the construction unit is used for constructing a topological connection relation among the control nodes and acquiring at least one coupling coefficient matrix, wherein the coupling coefficient matrix comprises at least one normalized coupling coefficient, and the normalized coupling coefficient is used for representing the vibration influence degree of the target control node on the control nodes except the target control node; the acquisition unit is used for acquiring vibration data of at least one control node on the mechanical equipment through a vibration sensor; the updating unit is used for continuously updating the actuation strength of the control nodes through an FXLMS algorithm based on the coupling coefficient matrix and the vibration transfer function according to the topological connection relation among the control nodes; and the stopping unit is used for stopping updating the action strength of the control node if the mean square value of the vibration data of the at least one control node is converged in a fixed mean square value range.
According to an aspect of the present application, there is provided a computer-readable storage medium, wherein at least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded into and executed by a processor to implement the operations performed by the vibration control method for a mechanical device.
According to an aspect of the present application, there is provided a computer device comprising one or more processors and one or more memories, the one or more memories having stored therein at least one program code, the at least one program code being loaded into and executed by the one or more processors to implement operations performed by a method of vibration control of a mechanical device.
Based on the scheme, the application has at least the following advantages or progress effects:
the application provides a vibration control method of mechanical equipment, through the topological connection that founds between each control node, confirm the coupling degree between each control node, introduce the coupling degree between each control node when controlling the vibration on the mechanical equipment to the realization makes real-time response to time and space data's change, with reduce computational resource consumption, and utilize the cooperation nature between the node to strengthen the robustness of network, and then can stably and simply high-efficiently control mechanical vibration to a certain extent at least.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 illustrates a simplified flow diagram of a method of vibration control of a mechanical device in one embodiment of the present application;
FIG. 2 shows a simplified diagram of a method of obtaining a vibration transfer function of a target control node for each control node other than the target control node in one embodiment of the present application;
FIG. 3 illustrates a simplified flow diagram of a method of vibration control of a mechanical device in one embodiment of the present application;
FIG. 4 illustrates a simplified flow diagram of a method of vibration control of a mechanical device in one embodiment of the present application;
FIG. 5 illustrates a simplified flow diagram of a method of vibration control of a mechanical device in one embodiment of the present application;
FIG. 6 illustrates a simplified flow diagram of a method of vibration control of a mechanical device in one embodiment of the present application;
FIG. 7 shows a schematic diagram of a control node in one embodiment of the present application;
FIG. 8 shows the 8Hz line spectrum amplitude versus time curves for the three control methods;
FIG. 9 shows the 16Hz line spectrum amplitude versus time curves for the three control methods;
FIG. 10 shows the 32Hz line spectrum amplitude versus time for the three control methods;
FIG. 11 illustrates a simplified structural diagram of a vibration control device of a mechanical apparatus in one embodiment of the present application;
fig. 12 is a schematic diagram of a computer system suitable for implementing the vibration control method of the mechanical device according to the embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
It is noted that the terms first, second and the like in the description and claims of the present application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the objects so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than those illustrated or described herein.
Next, method embodiments of the present application will be described with reference to the drawings.
Referring to fig. 1, fig. 1 shows a simplified flow diagram of a vibration control method for a mechanical device in an embodiment of the present application, which may include steps S101-S105:
step S101, obtaining a vibration transfer function of a target control node to each control node except the target control node, wherein the vibration transfer function is used for representing a vibration transfer relation from the target control node to each control node except the target control node, and the target control node comprises any one of at least one control node on mechanical equipment.
Step S102, constructing a topological connection relation among all control nodes, and obtaining at least one coupling coefficient matrix, wherein the coupling coefficient matrix comprises at least one normalized coupling coefficient, and the normalized coupling coefficient is used for representing the vibration influence degree of the target control node on all the control nodes except the target control node.
And S103, acquiring vibration data of at least one control node on the mechanical equipment through a vibration sensor.
And step S104, continuously updating the actuation strength of the control nodes through an FXLMS algorithm based on the coupling coefficient matrix and the vibration transfer function according to the topological connection relation among the control nodes.
Step S105, if the mean square value of the vibration data of the at least one control node is converged in a fixed mean square value range, stopping updating the actuation strength of the control node.
In the present application, before performing vibration control, the vibration transfer coefficients of each control node to the remaining control nodes may be obtained, for example, when there are 100 control nodes, a total of 9900 vibration transfer functions may be obtained.
In the application, after the vibration function is obtained, the topological connection between the control nodes can be constructed, the normalized coupling coefficient of each control node to the rest of the control nodes is obtained, a coupling coefficient matrix is obtained, and the influence degree between the control nodes can be quantized into the coupling coefficient matrix through the normalized operation.
In the application, after obtaining the vibration transfer function and the coupling coefficient matrix, vibration control may be started, the vibration sensor may be used to collect vibration data of at least one control node on the mechanical device, and the actuation strength of the control node may be continuously updated by the FXLMS algorithm based on the coupling coefficient matrix and the vibration transfer function according to the topological connection relationship between the control nodes, so that the mean square value of the vibration data of the at least one control node is converged to a fixed mean square value range, which indicates that the signal strength of the vibration data is minimum at this time, and indicates that the vibration is controlled to the maximum extent by the technical scheme of the application.
In an embodiment of the present application, the method for obtaining a vibration transfer function of a target control node to each control node except the target control node may include: and after isolating a vibration source and carrying out open-loop excitation on the target control node, acquiring a vibration transfer function of the target control node to each control node except the target control node through an LMS algorithm.
In the application, the open-loop excitation determines the vibration transfer condition of the target control node to each control node except the target control node by exciting the primary vibration of the target control node based on the primary vibration and the vibration data of each control node except the target control node, and then determines the vibration transfer function of the target control node to each control node except the target control node by an LMS algorithm.
Referring to fig. 2, fig. 2 is a diagram illustrating a method for obtaining a vibration transfer function of a target control node for each control node except the target control node in an embodiment of the present application. As shown in fig. 2, in this embodiment, there may be 5 control nodes, and any one of the control nodes may be used as the target control node, and may perform open-loop excitation on the target control node 201. The vibration output by the target control node 201 can be transferred to the control node 202 through the vibration transfer relation represented by the transfer function A; the vibration output by the target control node 201 can be transferred to the control node 203 through a vibration transfer relation represented by the transfer function B; the vibration output by the target control node 201 can be transferred to the control node 204 through a vibration transfer relation represented by the transfer function C; the vibration output by the target control node 201 may be transferred to the control node 205 through a vibration transfer relationship characterized by a transfer function D.
Referring to fig. 3, fig. 3 is a simplified flow chart of a vibration control method for a mechanical device according to an embodiment of the present application, where the method for obtaining at least one coupling coefficient matrix may include steps S301-S302:
step S301, after isolating a vibration source and performing open-loop excitation on the target control node, determining a normalized coupling coefficient of the target control node to each control node except the target control node.
Step S302, based on the normalized coupling coefficient, determining a coupling coefficient matrix of the target control node.
Referring to fig. 4, fig. 4 is a flow chart illustrating a vibration control method of a mechanical device according to an embodiment of the present disclosure. The method of determining the normalized coupling coefficient of the target control node for each control node other than the target control node may include steps S401-S403:
step S401, after isolating a vibration source and performing open-loop excitation on the target control node, obtaining vibration data of each control node except the target control node.
And step S402, determining a reference control node according to the vibration data of all the control nodes except the target control node.
Step S403, taking the vibration data of the reference control node as a normalization reference, performing normalization processing on the vibration data of each control node except the target control node, and determining a normalized coupling coefficient of the target control node to each control node except the target control node.
In the application, the mutual influence degree between the control nodes can be represented by the coupling coefficient matrix. In order to obtain the coupling coefficient matrix, an open-loop excitation may be performed on one target control node, and the vibration magnitude of one target control node for other control nodes is obtained, the control node corresponding to the maximum vibration is used as the reference control node, the target control node has the greatest influence degree on the reference control node, the normalized coupling coefficient corresponding to the reference control node may be determined to be 1, and the other control nodes compare the received vibration magnitude with the received vibration magnitude of the reference control node, and determine their own normalized coefficients according to the ratio.
For example, there are 4 control nodes A, B, C and D, and node a may be controlled as the target control node, and a may be excited in an open loop, and B, C and D may be obtained with vibration magnitudes of 1, 2, and 4, respectively. Thus D may be taken as the reference control node, the normalized coupling coefficients of a to D may be determined to be 1, a to B may be determined to be 0.25, and a to C may be determined to be 0.5. In the same way, normalized coupling coefficients of B pair A, C and D, normalized coupling coefficients of C pair A, B and D, normalized coupling coefficients of D pair A, B and C, and finally a coupling coefficient matrix can be obtained.
In this embodiment, the determining the normalized coupling coefficient of the target control node for each control node except the target control node may further include:
and if the ratio of the vibration data of the control node to the vibration data of the reference control node is smaller than a preset ratio, determining that no coupling relation exists between the control node and the target control node, and determining a normalized coupling coefficient corresponding to the control node as 0.
In the application, in order to further reduce the calculated amount, the control nodes with the smaller coupling degree can be screened out according to the vibration number of each control node and the ratio of the vibration data of the reference control node, the control nodes with the smaller coupling degree can not be considered in the actual vibration control process, the calculated amount can be effectively reduced, and the vibration control speed is improved.
In the present application, the predetermined ratio may be 0.1.
For example, there are 4 control nodes A, B, C and D, the node a may be controlled to serve as the target control node, a is excited in an open loop, B, C and the magnitudes of the vibrations received by D are 0.3, 2 and 4, respectively, D may serve as the reference control node, the predetermined ratio may be 0.1, and the ratio of the magnitude of the vibration received by B to the magnitude of the vibration received by D is less than 0.1, so that the normalized coupling coefficient of a to B may be determined to be 0, and the degree of influence of a on B may not be considered in subsequent calculations.
Referring to fig. 5, fig. 5 is a flow chart illustrating a method for controlling vibration of a mechanical device according to an embodiment of the present application, where the method for continuously updating the actuation strength of the control nodes through the FXLMS algorithm based on the coupling coefficient matrix and the vibration transfer function according to the topological connection relationship between the control nodes may include steps S501 to S503:
step S501, obtaining the actuation strength of each control node.
Step S502, according to the topological connection relation among the control nodes, based on the coupling coefficient matrix, the vibration transfer function and the actuating strength of each control node, determining a target change model of the vibration data of the at least one control node, wherein the target change model is used for representing the change situation of the vibration data of the at least one control node.
And step S503, continuously updating the actuation strength of the control node through an FXLMS algorithm based on the target change model.
Referring to fig. 6, fig. 6 is a simplified flowchart illustrating a method for controlling vibration of a mechanical device according to an embodiment of the present application, where the method for determining a target variation model of vibration data of at least one control node according to a topological connection relationship among the control nodes based on the coupling coefficient matrix, the vibration transfer function, and the actuation strengths of the control nodes may include steps S601-S603:
step S601, generating an initial change model of the vibration data of the at least one control node based on the vibration transfer function and the actuating strength of each control node, wherein the initial change model is used for representing the change condition of the vibration data of the at least one control node when the coupling relation is not considered.
Step S602, obtaining a normalized coupling coefficient between the control nodes in the coupling coefficient matrix according to the topological connection relationship between the control nodes.
Step S603, based on the normalized coupling coefficient between the control nodes, modifying the initial change model, and generating a target change model of the vibration data of the at least one control node.
In the application, the vibration data finally fed back by each control node is actually the result of the common superposition and cancellation of the vibration caused by the vibration source received by each control node and the vibration caused by each control node. However, since the control nodes are different in physical distribution, the influence degrees of the control nodes are different, and therefore, the superposition of vibrations caused by all the control nodes cannot be considered, and correction needs to be performed through the normalized coupling coefficient in the coupling coefficient matrix. And aiming at a single control node, the normalized coupling coefficient between the control node and other control nodes can be obtained according to the topological connection relation between the control nodes. Therefore, when the vibration caused by the vibration source is relatively stable, the vibration received by each control node can be reduced as much as possible by updating the actuating strength of each control node, and the actuating strength of the control nodes is continuously updated by the FXLMS algorithm, so that the mean square value of the vibration data of at least one control node can be converged in a fixed mean square value range, and the signal strength of the vibration data of the control nodes is the lowest.
Referring to fig. 7, fig. 7 shows a schematic diagram of a control node in an embodiment of the present application. As shown in fig. 7, the output signal of the actual vibration signal 701 passing through the actual physical structure is the expected signal 702, the actuation strength output through the control node may be 703, and 702 and 703 may cancel each other out, so as to determine the vibration data 704 of the control node, and the average square value of 704 is converged to a fixed average square value range by using 704 and 701 as the input of the FXLMS algorithm and continuously adjusting 703, so that the signal strength of the vibration data 704 of each node can be minimized, and the maximum vibration control effect can be obtained as much as possible.
In order that those skilled in the art may more fully understand the present teachings, a full range of embodiments is now described.
The multi-type motor on the support inside a certain large-scale device can easily excite the support to vibrate at 12Hz, 18Hz, 24Hz and the like, and an active vibration reduction technology is introduced for reducing the vibration of the whole platform. In view of the critical effect of vibration isolators on vibration transmission, actuators are to be mounted above and near them to isolate the transmission of force to the housing. According to the initial position selection, the system is set to comprise 80 sensors and 80 actuators. Due to the fact that the control system is large in scale, the vibration control method of the mechanical equipment is adopted for vibration control.
One control node may be formed by one sensor, one actuator and one control filter depending on the same position, and thus a total of 80 control nodes may be divided.
Firstly, in a motor off state, based on an LMS algorithm, transfer functions Cij from each actuator to each sensor are obtained through open-loop excitation. .
And acquiring the normalized influence degree of the actuator on the sensors in other nodes through open-loop excitation, and determining the normalized coupling coefficient and the normalized coupling coefficient matrix A between the control nodes.
Substituting Cij and A into the following formula, and performing FXLMS algorithm iteration to realize vibration suppression:
where n may represent a sampling time, L may represent an order of the control filter, H may represent an order of the error channel filter, Cij may represent a transfer function output by the i-th control node to the j-th control node, and x (n), wi (n) are a reference input vector and a control filter weight vector.
In order to verify the superiority of the vibration control method provided by the application, the effect comparison of the vibration control method provided by the application with the traditional distributed control method and the traditional centralized control method is provided.
Referring to fig. 8, fig. 8 shows curves of 8Hz line spectrum amplitude changing with time corresponding to three control methods, as shown in fig. 8, a curve 801 corresponds to the vibration control method provided in the present application, a curve 802 corresponds to the conventional distributed control method, and a curve 803 corresponds to the centralized control method.
Referring to fig. 9, fig. 9 shows curves of 16Hz line spectrum amplitude changing with time corresponding to three control methods, as shown in fig. 9, a curve 901 corresponds to the vibration control method provided in the present application, a curve 902 corresponds to the conventional distributed control method, and a curve 903 corresponds to the centralized control method.
Referring to fig. 10, fig. 10 shows the curves of the 32Hz line spectrum amplitude with time variation corresponding to the three control methods, as shown in fig. 10, the curve 1001 corresponds to the vibration control method provided in the present application, the curve 1002 corresponds to the conventional distributed control method, and the curve 1003 corresponds to the centralized control method.
In fig. 8, 9 and 10, reference vibration a0＝10-6m/s2. It can be seen that the convergence rate of the vibration control method provided by the application is slightly slower than that of the centralized control method, but the difference is not large. Meanwhile, the vibration control method provided by the application achieves the almost same control effect as a centralized control method. However, the effect of the distributed control method is poor because the coupling effect among the nodes is neglected, and the distributed control method has a tendency of gradually diverging along with the increase of the frequency.
Next, an apparatus embodiment of the present application will be described with reference to the drawings.
Referring to fig. 11, fig. 11 shows a schematic structural diagram of a vibration control device of a mechanical apparatus in an embodiment of the present application, where the device may include: an acquisition unit 1101, a construction unit 1102, an acquisition unit 1103, an update unit 1104, and a stop unit 1105.
In this application, the device may be specifically configured as follows: an obtaining unit 1101, configured to obtain a vibration transfer function of a target control node to each control node except the target control node, where the vibration transfer function is used to characterize a vibration transfer relationship from the target control node to each control node except the target control node, and the target control node includes any one of at least one control node on a mechanical device; the constructing unit 1102 is configured to construct a topological connection relationship between each control node, and obtain at least one coupling coefficient matrix, where the coupling coefficient matrix includes at least one normalized coupling coefficient, and the normalized coupling coefficient is used to characterize a degree of influence of the target control node on vibration of each control node except the target control node; the acquisition unit 1103 is used for acquiring vibration data of at least one control node on the mechanical equipment through a vibration sensor; the updating unit 1104 is used for continuously updating the actuation strength of the control nodes through an FXLMS algorithm based on the coupling coefficient matrix and the vibration transfer function according to the topological connection relation among the control nodes; a stopping unit 1105, configured to stop updating the actuation strength of the control node if the mean square value of the vibration data of the at least one control node converges to a fixed mean square value range.
Referring to fig. 12, fig. 12 is a schematic diagram of a computer system suitable for implementing the vibration control method of the mechanical device according to the embodiment of the present disclosure.
It should be noted that the computer system 1200 shown in fig. 12 is only an example, and should not bring any limitation to the function and the scope of the application of the embodiments.
As shown in fig. 12, the computer system 1200 includes a Central Processing Unit (CPU)1201, which can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 1202 or a program loaded from a storage section 1208 into a Random Access Memory (RAM) 1203. In the RAM 1203, various programs and data necessary for system operation are also stored. The CPU 1201, ROM 1202, and RAM 1203 are connected to each other by a bus 1204. An Input/Output (I/O) interface 1205 is also connected to bus 1204.
The following components are connected to the I/O interface 1205: an input section 1206 including a keyboard, a mouse, and the like; an output section 1207 including a Display device such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 1208 including a hard disk and the like; and a communication section 1209 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 1209 performs communication processing via a network such as the internet. A driver 1210 is also connected to the I/O interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, is mounted on the drive 1210 as necessary, so that a computer program read out therefrom is mounted into the storage section 1208 as necessary.
In particular, according to embodiments of the present application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 1209, and/or installed from the removable medium 1211. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 1201.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
As another aspect, the present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vibration control method of the mechanical device described in the above embodiments.
As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer-readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to implement the vibration control method of the mechanical device described in the above embodiments.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method of vibration control of a mechanical device, the method comprising:
the method comprises the steps that a vibration transfer function of a target control node to each control node except the target control node is obtained, the vibration transfer function is used for representing the vibration transfer relation from the target control node to each control node except the target control node, and the target control node comprises any one of at least one control node on mechanical equipment;
constructing a topological connection relation among all control nodes, and acquiring at least one coupling coefficient matrix, wherein the coupling coefficient matrix comprises at least one normalized coupling coefficient, and the normalized coupling coefficient is used for representing the vibration influence degree of the target control node on all the control nodes except the target control node;
acquiring vibration data of at least one control node on the mechanical equipment through a vibration sensor;
continuously updating the actuation strength of the control nodes through an FXLMS algorithm based on the coupling coefficient matrix and the vibration transfer function according to the topological connection relation among the control nodes;
and if the mean square value of the vibration data of the at least one control node is converged in a fixed mean square value range, stopping updating the actuation strength of the control node.
2. The vibration control method according to claim 1, wherein the obtaining of the vibration transfer function of the target control node for each control node other than the target control node comprises:
and after isolating a vibration source and carrying out open-loop excitation on the target control node, acquiring a vibration transfer function of the target control node to each control node except the target control node through an LMS algorithm.
3. The vibration control method according to claim 1, wherein said obtaining at least one coupling coefficient matrix comprises:
after isolating a vibration source and carrying out open-loop excitation on the target control node, determining the normalized coupling coefficient of the target control node to each control node except the target control node;
determining a coupling coefficient matrix of the target control node based on the normalized coupling coefficient.
4. The method of vibration control of claim 3, wherein said determining a normalized coupling coefficient of said target control node to each control node other than said target control node comprises:
after isolating a vibration source and carrying out open-loop excitation on the target control node, acquiring vibration data of each control node except the target control node;
determining a reference control node according to the vibration data of all the control nodes except the target control node;
and taking the vibration data of the reference control node as a normalization reference, normalizing the vibration data of all the control nodes except the target control node, and determining the normalized coupling coefficient of the target control node to all the control nodes except the target control node.
5. The method of vibration control of claim 4, wherein said determining a normalized coupling coefficient of said target control node to each control node other than said target control node further comprises:
and if the ratio of the vibration data of the control node to the vibration data of the reference control node is smaller than a preset ratio, determining that no coupling relation exists between the control node and the target control node, and determining a normalized coupling coefficient corresponding to the control node as 0.
6. The vibration control method according to claim 1, wherein continuously updating the actuation strengths of the control nodes by an FXLMS algorithm based on the coupling coefficient matrix and the vibration transfer function according to the topological connection relationship between the control nodes comprises:
acquiring the actuation strength of each control node;
determining a target change model of the vibration data of the at least one control node according to the topological connection relation among the control nodes and based on the coupling coefficient matrix, the vibration transfer function and the actuating strength of the control nodes, wherein the target change model is used for representing the change condition of the vibration data of the at least one control node;
and continuously updating the actuating strength of the control node through an FXLMS algorithm based on the target change model.
7. The vibration control method according to claim 6, wherein the determining a target variation model of the vibration data of the at least one control node based on the coupling coefficient matrix, the vibration transfer function and the actuation strength of each control node according to the topological connection relationship between each control node comprises:
generating an initial change model of the vibration data of the at least one control node based on the vibration transfer function and the actuating strength of each control node, wherein the initial change model is used for representing the change condition of the vibration data of the at least one control node when the coupling relation is not considered;
acquiring a normalized coupling coefficient between each control node in the coupling coefficient matrix according to the topological connection relation between each control node;
and correcting the initial change model based on the normalized coupling coefficient between the control nodes to generate a target change model of the vibration data of the at least one control node.
8. A vibration control apparatus of a mechanical device, characterized in that the apparatus comprises:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a vibration transfer function of a target control node to each control node except the target control node, the vibration transfer function is used for representing the vibration transfer relation from the target control node to each control node except the target control node, and the target control node comprises any one of at least one control node on mechanical equipment;
the construction unit is used for constructing a topological connection relation among the control nodes and acquiring at least one coupling coefficient matrix, wherein the coupling coefficient matrix comprises at least one normalized coupling coefficient, and the normalized coupling coefficient is used for representing the vibration influence degree of the target control node on the control nodes except the target control node;
the acquisition unit is used for acquiring vibration data of at least one control node on the mechanical equipment through a vibration sensor;
the updating unit is used for continuously updating the actuation strength of the control nodes through an FXLMS algorithm based on the coupling coefficient matrix and the vibration transfer function according to the topological connection relation among the control nodes;
and the stopping unit is used for stopping updating the action strength of the control node if the mean square value of the vibration data of the at least one control node is converged in a fixed mean square value range.
9. A computer-readable storage medium having at least one program code stored therein, the at least one program code being loaded into and executed by a processor to perform operations performed by a vibration control method of a mechanical device according to any one of claims 1 to 7.
10. A computer device comprising one or more processors and one or more memories having at least one program code stored therein, the at least one program code being loaded into and executed by the one or more processors to perform operations performed by a method of vibration control of a mechanical device according to any one of claims 1 to 7.
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