CN101718613B - Experimental modal analysis method of numerical control equipment - Google Patents
Experimental modal analysis method of numerical control equipment Download PDFInfo
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- CN101718613B CN101718613B CN2009101938831A CN200910193883A CN101718613B CN 101718613 B CN101718613 B CN 101718613B CN 2009101938831 A CN2009101938831 A CN 2009101938831A CN 200910193883 A CN200910193883 A CN 200910193883A CN 101718613 B CN101718613 B CN 101718613B
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Abstract
The invention discloses an experimental modal analysis method of numerical control equipment, which belongs to the technical field of the performance parameter analysis of the numerical control equipment; the method comprises the following steps of: carrying out self-excitation input and generating broadband excitation to the structure of the numerical control equipment by self excitation; based on the analysis of the sensitive point of the excitation response of each component of the numerical control equipment, optimizing the arrangement of test points; picking up the excitation response signal data of each arrangement test point; collecting the excitation response signal data; analyzing and reprocessing the collected data; and based on a peak value method, processing the excitation response signal data of a reference point and each response point to obtain the dynamic property parameters of the structure of the numerical control equipment. The invention breaks through the defect that the traditional experimental modal analysis technology needs to additionally add excitation input and carry out various forced assumptions on the excitation input, and the experimental cost can be greatly lowered because external excitation is not needed.
Description
Technical field:
The invention belongs to numerical control equipment performance parameter analysis technical field, relate in particular to a kind of experimental modal analysis method of numerical control equipment.
Background technology:
Begin very early the physical construction dynamic perfromance have been carried out systematic research both at home and abroad, and formed ripe analytical instrument and business software with the theory and the method for experimental modal analysis.Parameter recognition is carried out in test and the analysis that traditional Modal Parameter Identification system is based on transport function; Promptly record each excitation and the response signal of system simultaneously; Carry out the FFT operation; Obtain transfer function matrix, theoretical with model analysis through curve fitting to the test admittance function, identify the modal parameter of structure.This traditional experimental modal analysis system has been used on the Modal Parameter Identification of numerical control equipment structure widely; Belong to known in this area; For example see that one Chinese patent application number is: 200610171541.6; Denomination of invention is: the numerical control equipment processing dynamics is learned the characteristic test analytic system, the software platform of a whole set of test analysis of analyzing based on input/output signal.One Chinese patent application number is: 87107568.7, and denomination of invention is: model analysis computer optimization algorithm provides hypothesis to be input as the modal parameter method for distilling of white noise.More than these systems or algorithm all be through the test and excitation response signal, or the hypothesis situation that is input as white noise gets off to carry out.But; Be difficult to use for heavy, large-sized numerical control these instruments of equipment and software, subject matter be because heavy, each part quality of large-sized numerical control equipment is big, if employing power hammer knocks; Percussion power is little, and its energy is difficult to inspire needed mode, and percussion power is big and possibly damage equipment; If adopt the vibrator excitation, the power of conventional vibrator also is difficult to inspire needed mode, the not only low requirement that is difficult to satisfy the numerical control equipment frequency characteristic of excited frequency of superpower vibrator, and cost an arm and a leg, install complicated.If only need utilize response data just can carry out parameter identification, this is a big advantage beyond doubt.So just, can carry out what is called " online (Online) model analysis " to machinery under the working condition and structure.This not only makes those model analyses that can't record the engineering structure of load become possibility, and the modal parameter of identification under the actual working state actual dynamic performance of reflect structure more properly.Consider total to a certain degree non-linear of existing of reality system, the linear mode model that is suitable for also should be set up on the actual loading working point in identification.But at present the prerequisite based on the operational modal analysis method of neighbourhood noise is to suppose that the measuring excitation signal is for paying close attention to the random white noise disturbance of frequency range.Obviously, this hypothesis to excitation is also inapplicable to the mechanical system that all contain rotary part, because remove random perturbation, these mechanical systems also receive because the harmonic disturbance that rotary part causes.If harmonic frequency is near the natural frequency of this structure; Then above-mentioned modal analysis method can not accurately identify modal parameter; And in actual numerical control armament-related work excitation, rotary part will be introduced when harmonic interference also will be and is become, and this has more increased the difficulty of analyzing.Therefore, it is a kind of new for experimental modal analysis method heavy, the large-sized numerical control equipment to be badly in need of research.
Summary of the invention:
The object of the invention is intended to overcome the deficiency of prior art, and a kind of experimental modal analysis method of numerical control equipment is provided.
The present invention mainly realizes goal of the invention through following technical scheme:
A kind of experimental modal analysis method of numerical control equipment, it comprises the steps:
1) " autoexcitation " input utilizes the numerical control equipment characteristics of motion to numerical control equipment input autoexcitation signal, through " autoexcitation " the numerical control equipment configuration is produced input stimulus;
2) on the basis of each parts exciter response sensitive spot of analyzing numerically controlled equipment, obtain the bigger point of numerical control equipment response amplitude and put as a reference and response point, and preferred arrangement RP and response point;
3) the autoexcitation signal produces the autoexcitation response in RP and response point, gathers the response signal that said RP and response point produce in autoexcitation response back;
4) response signal of said RP of use and response point identifies the natural frequency of system;
5) image data is analyzed processing again, utilize said natural frequency to obtain the vibration shape;
6) based on Peak Intensity Method the natural frequency gained vibration shape of RP and each response point is handled, drawn the dynamic characteristic parameter of numerical control equipment structure.
In the present invention, wherein step 1) said " autoexcitation " is the broadband excitation that is produced by numerical control equipment itself under the numerical control equipment running status.
In the present invention, wherein step 1) said " autoexcitation " is produced by each kinematic axis dry running of numerical control equipment.
In the present invention, wherein said step 2) accomplish by acceleration transducer.
In the present invention, wherein said step 3) is accomplished by data acquisition module.
In the present invention, wherein said step 5) is accomplished by autoexcitation software analysis module.
A kind of experimental modal analysis method of numerical control equipment that embodiment of the present invention provides; Its beneficial effect is: the defective that the present invention has broken through existing experimental modal analysis technical requirement extrinsic motivated response input and the various pressures of excitation input are supposed; Can be implemented in the numerical control equipment working site and quickly and easily complete machine structure carried out dynamic analysis, also be suitable for medium and small numerical control equipment simultaneously; In addition, because the present invention does not need external drive, experimentation cost can reduce greatly, and can obtain the vibration shape that some can not obtain under the incentive condition of laboratory, for mechanical kinetics experimental modal analysis theory and technology has increased a kind of new method.
Description of drawings:
Fig. 1 is a schematic flow sheet of the present invention;
Fig. 2 is numerical control equipment dry running excitation input speed-time curve according to the invention;
Fig. 3 is the instrumentation system synoptic diagram;
Fig. 4 is a Peak Intensity Method Modal Parameter Identification process flow diagram.
Embodiment:
Below in conjunction with accompanying drawing the present invention is described further:
As shown in Figure 1; The process step of a kind of experimental modal analysis method of numerical control equipment of the present invention is following: 1) " autoexcitation " input; Utilize the numerical control equipment characteristics of motion to numerical control equipment input autoexcitation signal, the numerical control equipment configuration is produced input stimulus through " autoexcitation "; 2) on the basis of each parts exciter response sensitive spot of analyzing numerically controlled equipment, obtain the bigger point of numerical control equipment response amplitude and put as a reference and response point, and preferred arrangement RP and response point; 3) the autoexcitation signal produces the autoexcitation response in RP and response point, gathers the response signal that said RP and response point produce in autoexcitation response back; 4) response signal of said RP of use and response point identifies the natural frequency of system; 5) image data is analyzed processing again, utilize said natural frequency to obtain the vibration shape; 6) based on Peak Intensity Method the natural frequency gained vibration shape of RP and each response point is handled, drawn the dynamic characteristic parameter of numerical control equipment structure.
In technical scheme of the present invention, " autoexcitation " of numerical control equipment mainly produced by dual mode: the one, produce through each kinematic axis dry running of numerical control equipment; The 2nd, add the cutting force that causes man-hour by numerical control equipment and produce.For the natural frequency that obtains numerical control equipment should be as much as possible to arbitrary excitation of numerical control equipment input; Consider that the numerical control equipment motion has the characteristic that can control automatically; The characteristics of motion that numerical control equipment is different; Will produce different acceleration responsives, and can produce different inertia impacts numerical control equipment; Therefore, the design of autoexcitation production method and input are exactly the design to the numerical control equipment characteristics of motion.The numerical control equipment characteristics of motion that is designed should be easy to realize and have identification effect preferably that this characteristics of motion can be achieved through writing numerical control program in the operational process of numerical control equipment.
As shown in Figure 2; The movement locus that is some numerical control equipment single shafts of design or multiaxis towards effective " autoexcitation " dry running rule of numerical control equipment among the present invention; And the acceleration and deceleration control of coupling system, movement velocity, acceleration of motion parameter is selected; The control numerical control equipment is with cycle or pseudorandom velocity variations, in the hope of equipment physical construction is produced excitation, to reach effective excitation of counterweight, large-sized numerical control equipment.Autoexcitation concrete operations through each kinematic axis dry run method of numerical control equipment produces are following: produce one group of random number with MATLAB, this group random number is invested time interval Δ t; The speed of feed of numerical control equipment is changed its direction through the sign that changes displacement; The numerical control equipment planker is along the displacement S=F * Δ t of Y direction.The numerical control equipment planker is as shown in Figure 2 along the movement velocity and the time relation of Y direction in the ideal case; Wherein time interval Δ t is a random number; The positive and negative step of speed of feed changes; See that from working table movement speed and time relation the numerical control equipment characteristics of motion that ideal situation can be realized down has galloping motion rule and random motion rule.
This method is utilized LMS CADA-X3.5 system, and with the acceleration-time data of acceleration transducer test numerical control equipment vibration, data import autoexcitation software analysis module 4 through data acquisition module 3 and carry out analyzing and processing (referring to Fig. 3).
As shown in Figure 1; " autoexcitation " not only contains the excitation that the said method design produces; But also comprise harmonic excitation and the caused interference excitation of introducing by other rotary part of numerical control equipment of neighbourhood noise; It is once per revolution vibration certainly that harmonic excitation of being introduced by other rotary part of numerical control equipment and the caused interference of neighbourhood noise encourage the vibration of caused numerical control equipment physical construction, when this vibration frequency and numerical control equipment structural natural frequencies not simultaneously, the present invention then is called it " pseudo-mode "; The present invention will after state identification and rejecting " pseudo-mode " in the program, obtain the real inherent characteristic of numerical control equipment physical construction.
As shown in Figure 4, after the autoexcitation input, the present invention mainly adopts Peak Intensity Method to carry out the identification of modal parameter and draws relevant modal parameter.When carrying out Modal Parameter Identification, choose the bigger point of response amplitude by preliminary experiment and put as a reference and response point with Peak Intensity Method.Then by experimental data calculate the response point auto-power spectrum, ring point should and RP between cross-power spectrum (amplitude and phase place), coherence function, transport totally five groups of data; The curve map that draws and respond is handled the modal parameter that draws structure to related data at last.The concrete operations step is following:
(1) selects to confirm RP and response point
After the autoexcitation input, next step mainly is on the basis of each parts exciter response sensitive spot of analyzing numerically controlled equipment, the preferred arrangement test point, and wherein test point is divided into RP and response point; When Peak Intensity Method of the present invention is carried out Modal Parameter Identification; Before definite experimental analysis frequency range, carry out the hammering preliminary experiment earlier, choose point that wherein response amplitude is bigger point as a reference, other several response amplitudes are response point more greatly; Can confirm different response point numbers according to different needs.As shown in Figure 3; In the present embodiment; On numerical control equipment 2 to be measured, select 1 RP and 5 response point for use; Simultaneously on RP and each response point, be fixed with acceleration transducer 1 respectively, each acceleration transducer 1 is electrically connected with data acquisition module 3 respectively, and data acquisition module 3 is electrically connected with autoexcitation software analysis module 4; Acceleration transducer 1 imports it into data acquisition module 3 after picking up the autoexcitation response, passes to autoexcitation software analysis module 4 again and carries out the data analysis processing, according to the foundation of treated result data as computing.
(2) calculate 5 groups of data
Calculate five groups of data of the transport between coherence function, each response point and the RP between phase place, each response point and the RP of the cross-power spectrum between amplitude, each response point and the RP of the cross-power spectrum between auto-power spectrum, each response point and the RP of 5 response point respectively.To stationary random signal, add Hanning window (Harming Window) usually and come filtering, it is wide that it has main lobe, and the secondary lobe amplitude fading is fast, and the frequency resolution advantages of higher can be reduced to a minimum leakage.
(3) according to the aforementioned calculation data curve spectrum that draws
(4) natural frequency of recognition system
The amplitude of the alternative frequency response function that the cross-spectrum amplitude between the auto-power spectrum of response point or each response point and the RP can be similar to, their crest frequency is identical.Because cross-spectrum figure with respect to from spectrogram burr being had certain effect of stabilizing, adopts cross-spectrum amplitude figure to discern modal parameter generally speaking.In order to reject the caused interference excitation of harmonic excitation and neighbourhood noise (ghost peak), come to be tested in these peaks with cross-spectrum phase diagram and coherence map, harmonic excitation and the caused interference excitation of neighbourhood noise ghost peak are rejected as " pseudo-mode ".
(4) calculate the damping ratio on each rank with half-power bandwidth method.
ω in the formula
i-Di i rank crest frequency
ω
2, ω
1-peak value
The intersection frequency of place's horizontal line and curve
Most of numerical control equipment structural damping than less than or be far smaller than 10%, excessive like damping ratio, check then that frequency resolution is whether bigger than normal and cause damping ratio to over-evaluate, as so then solving really through interpolation or refinement.
(5) confirm natural frequency and obtain the vibration shape by transport
It is not the real vibration shape that the transport at natural frequency point place draws the vibration shape, is the work sag curve, and can be known by the derivation of front can the approximate substitution vibration shape.Obtain the size of the vibration shape by the amplitude of transport, the direction that can obtain the vibration shape by the phase place or the transport real part of cross-spectrum.
(6) confirm modal parameter
When pumping signal is stationary random signal, can extract free vibration deamplification through Random Decrement Technique.Because numerical control equipment is generally big damping structure, the natural frequency peak value should not be very precipitous.The cross-power spectrum phase place of numerical control equipment natural frequency correspondence is generally near 0 or 180 degree at the trial; So to peak value precipitous and cross-power spectrum phase place all not near the crest 0 or 180 degree can think and should cause the natural frequency that is not numerical control equipment for forced vibration.The time curve that this several places peak value carries out after Filtering Processing is handled is found that the free vibration deamplification that extracts obviously improves.It is apparent in view to decay after the filtering, therefore thinks that filtered signal is not containing the forced response composition of excitation cycle.
Real mode in each rank of supposing structure can effectively separate each other and they do not exist each other and are coupled or are coupled less.Like this at the model frequency place.Can be approximated to be:
Can know that by following formula we are through direct read test curve α
i(j ω) is at model frequency ω
rThe value (comprising amplitude and phase place) at place just can obtain in frequencies omega
rThe time structure ODS, its approximate r rank Mode Shape of regarding structure as.
The above only is a preferred embodiments of the present invention, so all equivalences of doing according to the described structure of patent claim of the present invention, characteristic and principle change or modify, includes in patent claim of the present invention.
Claims (4)
1. an experimental modal analysis method of numerical control equipment is characterized in that it comprises the steps:
1) " autoexcitation " input utilizes the numerical control equipment characteristics of motion to numerical control equipment input autoexcitation signal, through " autoexcitation " the numerical control equipment configuration is produced input stimulus;
2) on the basis of each parts exciter response sensitive spot of analyzing numerically controlled equipment, obtain the bigger point of numerical control equipment response amplitude and put as a reference and response point, and preferred arrangement RP and response point;
3) the autoexcitation signal produces the autoexcitation response in RP and response point, gathers the response signal that said RP and response point produce in autoexcitation response back;
4) response signal of said RP of use and response point identifies the natural frequency of system;
5) image data is analyzed processing again, utilize said natural frequency to obtain the vibration shape;
6) based on Peak Intensity Method the natural frequency gained vibration shape of RP and each response point is handled, drawn the dynamic characteristic parameter of numerical control equipment structure;
Wherein, said " autoexcitation " is the broadband excitation that is produced by numerical control equipment itself under the numerical control equipment running status;
And said " autoexcitation " produced by each kinematic axis dry running of numerical control equipment;
And autoexcitation dry running rule is the movement locus of some numerical control equipment single shafts of design or multiaxis; And the acceleration and deceleration control of coupling system, movement velocity, acceleration of motion parameter is selected; The control numerical control equipment is with cycle or pseudorandom velocity variations; In the hope of equipment physical construction is produced excitation, to reach effective excitation of counterweight, large-sized numerical control equipment.
2. according to the described a kind of experimental modal analysis method of numerical control equipment of claim 1, it is characterized in that: said step 2) accomplish by acceleration transducer (1).
3. according to the described a kind of experimental modal analysis method of numerical control equipment of claim 1, it is characterized in that: said step 3) is accomplished by data acquisition module (3).
4. according to the described a kind of experimental modal analysis method of numerical control equipment of claim 1, it is characterized in that: said step 5) is accomplished by autoexcitation software analysis module (4).
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| CN102507119B (en) * | 2011-11-14 | 2014-07-23 | 华中科技大学 | Analytical method for cutting and excitation experimental mode of numerically-controlled equipment |
| CN102564786B (en) * | 2011-12-27 | 2014-05-07 | 华中科技大学 | Method for acquiring modal scale factor of machine tool structure based on cutting excitation |
| CN103323200B (en) * | 2013-05-15 | 2015-07-22 | 华中科技大学 | Acquirement method of tool nose point modal parameters relative to speed in principal shaft dry running stimulation |
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| CN105043700A (en) * | 2015-07-14 | 2015-11-11 | 工业和信息化部电子第五研究所 | Electronic device modal test system and method, and traveling wave tube slow wave structure modal test system |
| CN105676782A (en) * | 2016-03-09 | 2016-06-15 | 镇江智丰自动化科技有限公司 | Data collection method based on numerical control device modal analysis |
| CN107490460A (en) * | 2016-12-23 | 2017-12-19 | 宝沃汽车（中国）有限公司 | Method and apparatus for determining modal frequency |
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| CN109884985A (en) * | 2019-03-11 | 2019-06-14 | 上海理工大学 | The measurement method of numerically-controlled machine tool complete machine machining state dynamic characteristic |
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| CN111174996A (en) * | 2019-12-31 | 2020-05-19 | 中国航空工业集团公司沈阳飞机设计研究所 | Time-varying modal parameter identification method |
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| CN117268676B (en) * | 2023-11-17 | 2024-03-01 | 西南交通大学 | Vibration test device and analysis method based on modal analysis |
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