CN102298114A - Dynamic test system of magnetic levitation system - Google Patents
Dynamic test system of magnetic levitation system Download PDFInfo
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Abstract
The invention discloses a dynamic test system of a magnetic levitation system. The system mainly comprises an excitation unit, a node selection unit, a tracking band-pass filter unit, an adaptive identification unit and a frequency property extraction unit. The excitation unit is used for generating swept-frequency excitation signals. The node selection unit is used for selecting excitation input nodes, superposing the swept-frequency excitation signals in a control system, and simultaneously selecting two measurement signal lead-out nodes according to a measured module. The tracking band-pass filter unit is used for filtering lead-out signals. The adaptive identification unit is used for performing Robust adaptive fitting of the processed node lead-out signals by using the swept-frequency excitation signals. The frequency property extraction unit is used for obtaining a frequency property curve of the measured module according to the fitting result. The system disclosed by the invention is integrated in a magnetic levitation control system; observable points are increased; a certain module in the magnetic levitation control system can be subjected to open-loop and closed-loop dynamic test; any equipment is unnecessary to be increased; the cost is saved; and the test efficiency is increased.
Description
Technical field
The present invention relates to a kind of magnetic suspension system dynamic test system, be used for the appointment tested module of the magnetic suspension system of magnetic levitation electromechanical equipment is carried out dynamic characteristic test under the closed loop state, be specially adapted to obtain the dynamic perfromance of the appointment tested module of magnetic suspension system in the magnetic levitation electromechanical equipments such as magnetic suspension motor, magnetic suspension control torque gyroscope.
Background technology
But magnetic suspension bearing supporting with respect to the conventional mechanical bearings supporting have contactless, unlubricated, do not have wearing and tearing, vibration little, low in energy consumption, allow characteristics such as rotor high-speed rotation and ACTIVE CONTROL, have broad application prospects in fields such as lathe, turbomachinery, hydro-extractor, fan blower and Aero-Space.The magnetic suspension control system complex structure comprises parts such as displacement transducer, current sensor, controller, power amplifier, magnetic bearing, rotor.In order to design the magnetic suspension controller of function admirable in operating frequency range, need carry out dynamic characteristic test to each module of magnetic suspension system, obtain of the frequency response of each module at the different frequency place.Existing dynamic characteristic test instrument mainly is a dynamic signal analyzer, dynamic signal analyzer is that hardware and analysis software constitute, can from the electric signal of expression physical quantity, analyze its characterisitic parameter, it can be from time domain, frequency domain and amplitude domain are analyzed measured signal, be widely used in vibration, impact to wait and measure and analysis field, but this scheme need increase special testing apparatus, and can't test the internal procedure variable of magnetic suspension control system, the FFT conversion needs a large amount of computings, and is higher to hardware requirement, when carrying out closed loop test, the link of drawing the signal process is more, sneak into a large amount of circuit noises, and transfer delay is arranged, cause test result inaccurate.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiency of existing magnetic levitation technique of dynamic measurement, a kind of magnetic suspension system dynamical property test system is provided.
Technical solution of the present invention is: a kind of magnetic suspension system dynamic perfromance Online Transaction Processing, mainly comprise exciting unit, node selected cell, track band pass filter unit, Adaptive Identification unit and frequency characteristic extraction unit, wherein the node selected cell according to the choice of location of magnetic suspension system tested module excitation input node, tested module before output node behind output node and the tested module, exciting unit constructs two sine and cosine orthogonal signal, with the sinusoidal signal excitation input node that is added to, cosine and sine signal is sent in the Adaptive Identification unit.Track band pass filter unit structure goes out passband central frequency real-time follow-up exciting signal frequency and the adjustable bandpass filter of passband width, output node is drawn signal and is carried out being transported to the Adaptive Identification unit after the Filtering Processing through track band pass filter unit behind output node and the tested module before the tested module, and the Adaptive Identification unit is drawn signal to two filtered output nodes respectively with the cosine and sine signal of exciting unit structure and carried out the robust adaptive match and obtain weight coefficient battle array W
1, W
2, the frequency characteristic extraction unit is according to W
1, W
2Calculate tested module in real time in current frequency place's amplitude and phase place, the amplitude of whole frequency sweep frequency band and phase information are combined into the amplitude-versus-frequency curve and the phase-frequency characteristic curve of tested module.
Described track band pass filter unit is made up of filter coefficient computing module and Filtering Processing module.The filter coefficient computing module calculates the bandpass filter coefficient according to the current demand signal frequency of exciting unit output and the passband width of setting; The bandpass filter coefficient that the employing of Filtering Processing module calculates carries out the Real-Time Filtering processing to two output signal nodes of node selected cell institute gating.
The sinusoidal signal of described Adaptive Identification unit by using stimulating module output and with the cosine signal of its quadrature filtered two nodes are drawn signal and carry out the robust adaptive match, adaptive step is adjusted in real time according to error of fitting.
Described frequency characteristic extraction unit is made up of amplitude extraction module, phase extraction module, amplitude versus frequency characte extraction module and phase-frequency characteristic extraction module.The amplitude extraction module is according to the match weight coefficient battle array W of Adaptive Identification module
1, W
2Calculate the amplitude response of tested module at current frequency place, the phase extraction module is according to the match weight coefficient battle array W of Adaptive Identification unit
1, W
2Calculate the phase response of tested module at current frequency place, amplitude versus frequency characte extraction module and phase-frequency characteristic extraction module are combined into the amplitude-versus-frequency curve and the phase-frequency characteristic curve of tested module to the amplitude response of whole test frequency section and phase response, obtain the dynamic perfromance of tested module.
Principle of the present invention is: stack sine sweep signal before the magnetic suspension control system tested module, then each link of whole closed-loop control system all can be superimposed with and the signal of swept-frequency signal with frequency.Non-with the input signal of tracking band-pass filter filtering and tested module and output signal with signal frequently, then the sine sweep signal and with its with frequently but the respective combination W of the cosine signal of leading 90 degree of phase place
1=(W
X1, W
Y1) and W
2=(W
X2, W
Y2) respectively two before and after the match tested module draw signal, wherein W
1, W
2Use robust adaptive method iteration to obtain.Because two match signal in orthogonal, so, be transverse axis, be that the coordinate system of the longitudinal axis constitutes two-dimentional rectangular cartesian coordinate system with the sine sweep signal with cosine signals of leading its 90 degree of phase place, and fitting coefficient battle array W
1=(W
X1, W
Y1) be the coordinate figure of input signal on this coordinate system, fitting coefficient battle array W
2=(W
X2, W
Y2) be the coordinate figure of output signal on this coordinate system.Define according to frequency response, set out from initial point (0,0) and guide point (W into
X1, W
Y1) vector that constitutes is made as
Set out from initial point (0,0) and to guide point (W into
X2, W
Y2) vector that constitutes is made as
Then
For pumping signal changes through the amplitude before and after the tested module, be the amplitude response of tested module at current frequency f place,
For the phase angle change of pumping signal, be the phase response of tested module at current frequency f place through the tested module front and back.The amplitude response of whole test frequency section and phase response just form the amplitude-versus-frequency curve and the phase-frequency characteristic curve of tested module with the variation of frequency, obtain the dynamic perfromance of tested module then.
The present invention's advantage compared with prior art is:
(1) the present invention is integrated in the magnetic suspension control system, but but increased the test module of magnetic suspension control system inside and test point, and need not increase additional detections equipment, saved cost.
(2) the present invention adopts track band pass filter unit to carry out filter preprocessing to drawing node signal, Adaptive Identification unit by using robust adaptive method realizes the match to measured signal, guarantee the stability of adaptive algorithm, low with respect to traditional FFT frequency domain spectra analytical approach identification result noise.
(3) the present invention can carry out dynamic characteristic test to its internal module under magnetic suspension system closed loop working condition, and node selects module can select tested module and test to draw node, and is flexible, strong operability.
Description of drawings
Fig. 1 is a structure composition frame chart of the present invention;
Fig. 2 is the process flow diagram of magnetic suspension system of the present invention;
Fig. 3 is stimulating module realization flow figure of the present invention;
Fig. 4 is that node of the present invention is selected modular structure figure;
Fig. 5 is tracking band-pass filter realization flow figure of the present invention;
Fig. 6 is Adaptive Identification module realization flow figure of the present invention;
Fig. 7 is the extraction schematic diagram of frequency characteristic extraction module of the present invention;
Fig. 8 is the structural drawing of frequency characteristic extraction module of the present invention;
Fig. 9 subjects of the present invention---the structural drawing of magnetic suspension high speed motor and magnetic suspension control system;
Figure 10 is the result of the present invention at the enterprising action attitude of magnetic suspension high speed motor test experiments, and wherein Figure 10 a is the amplitude-versus-frequency curve of tested module, and Figure 10 b is the phase-frequency characteristic curve of tested module.
Embodiment
As shown in Figure 1, the present invention mainly comprises exciting unit 1, node selected cell 2, track band pass filter unit 3, Adaptive Identification unit 4 and frequency characteristic extraction unit 5.Node selected cell 2 is determined before excitation input node, the tested module output node behind the output node and tested module according to the position of tested module in the magnetic suspension system.Exciting unit 1 constructs the cosine and sine signal of two quadratures, and wherein sinusoidal signal is added to as pumping signal and encourages the input node, and sinusoidal, cosine signal is used as the match signal of Adaptive Identification unit.Track band pass filter unit passband central frequency real-time follow-up exciting signal frequency of 3 structures and the adjustable bandpass filter of passband width, the signal that output node is drawn behind output node and the tested module before the tested module carries out Filtering Processing through track band pass filter unit 3, filtering direct current biasing amount and high frequency noise, improve fitting precision, signal conveys after the processing is to Adaptive Identification unit 4, Adaptive Identification unit 4 uses the cosine and sine signal of exciting unit 1 structure respectively two output node signals after the Filtering Processing to be carried out the robust adaptive match, obtains match weight coefficient matrix W
1, W
2, robust method can be controlled speed of convergence and convergence precision respectively under the situation that guarantees stability.Frequency characteristic extraction unit 5 is according to W
1, W
2Calculating pumping signal in real time changes and phase change through the amplitude before and after the tested module, be amplitude response and the phase response of tested module at currently applied excitation frequency place, the amplitude of whole test frequency section and phase response are synthesized the amplitude-versus-frequency curve and the phase-frequency characteristic curve of tested module with the message block of frequency change, and then obtain its dynamic perfromance.
As shown in Figure 2, structural drawing for magnetic suspension system 6 of the present invention, when rotor is subjected to external disturbance, rotor has just departed from the reference position, displacement transducer detects the position signalling and the reference position amount of magnetic suspension rotor and does poor sending in the controller, it is poor that the controlled quentity controlled variable that controller calculates by corresponding control algolithm and the magnetic bearing coil current value of current sensor senses are done, and difference obtains final output controlled quentity controlled variable after through proportional component K.This controlled quentity controlled variable is sent into power amplifier, supplies with the electric current in the magnetic bearing coil.The magnetic bearing coil produces electromagnetic force and puts on magnetic suspension rotor, and the magnetic suspension rotor of offset is come back near the reference position.
As shown in Figure 3, realization flow figure for exciting unit 1 of the present invention, exciting unit 1 is integrated in the magnetic suspension control system, be logarithm increment type swept-frequency signal, but frequency sweep time T _ chirp, the initial frequency Freq_start of exciting unit 1, stop all online modifications of frequency Freq_end, excitation amplitude Amp, magnetic suspension control period T _ ctrAMB.In the specific implementation, set the above-mentioned parameter initial value, the logarithm increment type increases passing of frequency and takes advantage of step-length Freq_step_mult to be:
The computing formula of current frequency Freq_current is:
Freq_current＝Freq_current×Freq_step_mult
Because of the sine and cosine computing complicated, take processor a large amount of computing times, the present invention adopts the look-up table method to obtain the sine and cosine value, initialization sine table Sin_table when program run begins, if sine table length is Len_Sin, during according to current frequency computation part inquiring position, at first obtain the growth step-length Sin_step of inquiring position by current frequency:
Calculate the position Pos_sin that the sinusoidal signal of constructing is fetched data then in question blank:
Pos_sin＝Pos_sin+Sin_step
If Pos_sin＞Len_sin then needs its correction:
Pos_sin＝Pos_sin-Len_sin
Calculate the position Pos_cos that the cosine signal of constructing fetches data in question blank:
If Pos_cos＞Len_sin then needs its correction:
Pos_cos＝Pos_cos-Len_sin
The expression formula of excitation output Chirp_out is:
Chirp_out＝Amp×Sin_table[Pos_sin]
Wherein Amp is the exciting amplitude.
For guaranteeing computational accuracy, accumulated error when reducing the frequency renewal, more than the involved data layout of all algorithms be floating type, when the inquiry sine table, force to be converted to the shaping form, the excitation output Chirp_out that finally obtains is transported in the node selected cell 2, in order to apply pumping signal in the magnetic suspension control system relevant position.
As shown in Figure 4, node of the present invention selects module 2 to select a switch and 1 nine to select two switches to form by 1 four, four to select a switch input terminal be sinusoidal excitation signal chirp, four select an output switching terminal to comprise the rotor reference position, before the controller, totally four selectable energized positions that apply behind the controller and after the current ratio link, nine select two switch input terminals to comprise rotor reference position r, position transducer output valve s, s and r difference ε, ε and chirp sum ε ', controller calculates output valve c, c and chirp sum c ', current sensor output valve i, the current ratio link is calculated output valve p, p and chirp sum p ' be totally nine selectable test values, and nine to select two output switching terminals be test value measure_after behind tested module Pretesting value measure_before and the tested module.According to the position of tested module in magnetic suspension system, select to apply excitation node location and test value, for example, if the dynamic perfromance of test controller module, control four selects a switch selection control front position to apply excitation chirp; Control nine selects two switches to make measure_before=ε ', measure_after=c.
As shown in Figure 5, track band pass filter of the present invention unit 3 is made up of filter coefficient computing module 31 and Filtering Processing module 32, filter coefficient computing module 31 calculates second-order bandpass filter coefficient (A according to current exciting signal frequency f and the passband width controlled variable sharp that exciting unit 1 generates, B), computing formula is:
A[0]＝1+sharp×w
c+w
c 2
A[1]＝2(w
c 2-1)
A[2]＝1-sharp×w
c+w
c 2
B[0]＝sharp×w
c
B[1]＝0
B[2]＝-sharp×w
c
Wherein, A=(A [0], A[1], A[2]) be the polynomial coefficient of second-order bandpass filter denominator, B=(B[0], B[1], B[2]) be the polynomial coefficient of second-order bandpass filter molecule.Coefficient sharp decision bandpass filter passband width, band connection frequency is approximately:
w
cBe the passband central angle frequency after proofreading and correct with tan, i.e. w
c=tan (π fT), f is passband central frequency before proofreading and correct, T is the control cycle of magnetic levitation digital control system.
Two output signal node measure_before, the measure_after that Filtering Processing module 32 selects module 2 to select according to 31 bandpass filter that calculate to node carry out Real-Time Filtering to be handled, filtering direct current biasing amount and high frequency noise obtain Filtering Processing signal filtered_measure_before, filtered_measure_after.Filtering Processing module 32 computing formula are:
sig_in_2＝sig_in_1
sig_in_1＝sig_in
sig_out_2＝sig_out_1
sig_out_1＝sig_out
Sig_in, sig_in_1 and sig_in_2 are respectively input signal, input signal one step time-delay and input signal two steps time-delay, and sig_out, sig_out_1 and sig_out_2 are respectively output signal, one step of output signal time delayed signal and two step of output signal time delayed signal.When input sig_in=measure_before, sig_out is filtered_measure_before; When input sig_in=measure_after, sig_out is filtered_measure_after.
As shown in Figure 6, be the process flow diagram of Adaptive Identification of the present invention unit 4,4 usefulness stimulating modules 1 output of Adaptive Identification unit just, the respective combination W of cosine pumping signal chirp_sin, chirp_cos
1, W
2Tracking filter module output signal filtered_measure_before, filtered_measure_after are carried out match.
At first calculate self-adaptation error of fitting e (n), computing formula is:
e(n)＝sig_in-[w
x(n)×chirp_sin(nfT)+w
y(n)×chirp_cos(nfT)]
Wherein, (w
x(n), w
y(n)) be match weight coefficient to input signal sig_in, iterative formula is:
w
x(n+1)＝w
x(n)+μ(n+1)e(n)×chirp_sin(nfT)
w
y(n+1)＝w
y(n)+μ(n+1)e(n)×chirp_cos(nfT)
The present invention adopts the filtering of robust variable-step self-adaptive, and in order to improve speed of convergence and to reduce steady-state error, step size mu (n+1) iterative formula is:
p(n)＝βp(n-1)+(1-β)e(n)e(n-1)
μ(n+1)＝αμ(n)+γp(n)
2
Wherein 0＜α＜1 is the iteration forgetting factor of μ (n+1), and 0＜β＜1 is the iteration forgetting factor of error power p (n), and γ＜1 is the error power weight coefficient.The β value approaches 1 can reduce steady-state error, and r is big more, and iterative convergence speed is fast more, but considers that from stable aspect α, β, γ should satisfy:
ε
MinMean square deviation for error of fitting.When input sig_in=filtered_measure_before, (w
x(n), w
y(n)) be match weight coefficient matrix W
1When input sig_in=filtered_measure_after, (w
x(n), w
y(n)) be match weight coefficient matrix W
2
As shown in Figure 7, be the extraction schematic diagram of frequency characteristic extraction unit 5 of the present invention, setting the sine sweep signal is X-axis, with its with frequently but the cosine signal of leading 90 degree of phase place is the y axle, constitute two-dimentional rectangular cartesian coordinate system, W
1=(W
X1, W
Y1) and W
2=(W
X2, W
Y2) be respectively before and after the match tested module two draw the coordinate figure of signal on this coordinate system.Define according to frequency response, set out from initial point (0,0) and guide point (W into
X1, W
Y1) vector that constitutes is made as
Set out from initial point (0,0) and to guide point (W into
X2, W
Y2) vector that constitutes is made as
, then
For the changes in amplitude of pumping signal through the tested module front and back, be the amplitude response of tested module at current frequency f place,
For the phase angle change of pumping signal, be the phase response of tested module at current frequency f place through the tested module front and back.
As shown in Figure 8, frequency characteristic extraction unit 5 of the present invention is made up of amplitude extraction module 51, phase extraction module 52, amplitude versus frequency characte extraction module 53 and phase-frequency characteristic extraction module 54.Amplitude extraction module 51 is according to Adaptive Identification unit 4 gained match weight coefficient matrix W
1, W
2Calculate the amplitude response of tested module at current frequency place, computing formula is:
Amplitude response A and phase response in amplitude versus frequency characte module 53 and the phase-frequency characteristic module 54 integration testing frequency bands
And the corresponding relation between stimulating module 1 current test frequency f is formed the amplitude-versus-frequency curve and the phase-frequency characteristic curve of tested module, obtains the dynamic perfromance of tested module.
As shown in Figure 9, be subjects of the present invention---the structural drawing of magnetic suspension high speed motor and magnetic suspension control system.Magnetic suspension high speed motor comprises stationary part and rotor portion; Stationary part from left to right is followed successively by: parts such as protection bearing, radial transducer, radial direction magnetic bearing stator, motor stator, radial direction magnetic bearing stator, radial transducer, axial magnetic bearing stator, axial sensor and protection bearing, rotor portion from left to right is followed successively by: parts such as armature spindle, radial transducer detection faces, radial direction magnetic bearing magnetic guiding loop, magnetic steel of motor, radial direction magnetic bearing magnetic guiding loop, radial transducer detection faces, thrust disc and axial magnetic bearing detection dish.Control system is made up of signal regulating panel, control panel, power board.Directly, the current radial position of axial sensor detection rotor, after nursing one's health, the process signal regulating panel delivers to control panel, in control panel, calculate controlled quentity controlled variable and deliver to power board and carry out power amplification control coil size of current, by the footpath, axial magnetic bearing imposes on the rotor electromagnetic force makes its stable suspersion.For the sake of simplicity, the radially control synoptic diagram of a passage that only draws among the figure, axial passage is with radially other passage is identical with it.Exciting unit 1 of the present invention, node selected cell 2, track band pass filter unit 3, Adaptive Identification unit 4 and frequency characteristic extraction unit 5 are all realized in control panel.
As shown in figure 10, be the result of the present invention at the enterprising action attitude of magnetic suspension high speed motor test experiments.Experiment motor radial direction magnetic bearing inductance value L=18mH, resistance value R=4 Ω; Setting tested module is that magnetic bearing adds rotor-support-foundation system.The swept frequency excitation signal initial frequency Freq_start=10Hz of exciting unit 1 is set, cutoff frequency Freq_end=2000Hz, frequency sweep time T _ chirp=100s, magnetic suspension control period T _ ctrAMB=0.00015s produces frequency continues 100s from 10Hz to 2000Hz sine sweep signal chirp_sin and cosine swept-frequency signal chirp_cos; Node selected cell 2 control four selects a switch that chirp_sin is added to position behind the controller, controls nine simultaneously and selects two switches to make to draw node signal measure_before=c ', measure_after=s; Passband width controlled variable sharp=1.0 is set, and 3 couples of measure_before in track band pass filter unit and measure_after carry out that Filtering Processing obtains filtered_measure_before and filtered_measure_after sends in the Adaptive Identification unit 4; Parameter alpha=0.95, β=0.98, γ=1.0 * 10 are set
-4, Adaptive Identification unit 4 usefulness chirp_sin and filtered node is drawn signal filtered_measure_before to chirp_cos and filtered_measure_after carries out the robust adaptive match obtain match weight coefficient battle array; Frequency characteristic extraction unit 5 resolves according to match weight coefficient battle array, obtain pumping signal through changes in amplitude and phase change behind the tested module, repeat above process and finish until frequency sweep, the amplitude-versus-frequency curve that obtains tested module is shown in Figure 10 a, and the phase-frequency characteristic curve is shown in Figure 10 b.
The present invention can be used as a kind of general magnetic suspension system dynamic test system, can carry out the closed-loop dynamic test to each module in the magnetic suspension system and obtain its dynamic characteristic, application person can be according to its special application by revising and optimizing the test macro parameter and realize its function flexibly and easily.
Claims (4)
1. magnetic suspension system dynamic test system, it is characterized in that: mainly comprise exciting unit (1), node selected cell (2), track band pass filter unit (3), Adaptive Identification unit (4) and frequency characteristic extraction unit (5), wherein node selected cell (2) is according to the choice of location excitation input node of magnetic suspension system tested module, output node behind output node and the tested module before the tested module, exciting unit (1) constructs two sine and cosine orthogonal signal, with the sinusoidal signal excitation input node that is added to, cosine and sine signal is sent in the Adaptive Identification unit (4).Track band pass filter unit (3) constructs passband central frequency real-time follow-up exciting signal frequency and the adjustable bandpass filter of passband width, output node is drawn signal and is carried out being transported to Adaptive Identification unit (4) after the Filtering Processing through track band pass filter unit (3) behind output node and the tested module before the tested module, and the cosine and sine signal that construct with exciting unit (1) Adaptive Identification unit (4) is drawn signal to two filtered output nodes respectively and carried out the robust adaptive match and obtain weight coefficient battle array W
1, W
2, frequency characteristic extraction unit (5) is according to W
1, W
2Calculate tested module in real time in current frequency place's amplitude and phase place, the amplitude of whole frequency sweep frequency band and phase information are combined into the amplitude-versus-frequency curve and the phase-frequency characteristic curve of tested module.
2. a kind of magnetic suspension system dynamic test system according to claim 1 is characterized in that: described track band pass filter unit (3) is made up of filter coefficient computing module (31) and Filtering Processing module (32).Filter coefficient computing module (31) calculates the expression formula of bandpass filter according to the passband width of the current demand signal frequency of exciting unit (1) output and setting; The bandpass filter coefficient that Filtering Processing module (32) employing filter coefficient computing module (31) calculates carries out the Real-Time Filtering processing to two output signal nodes of node selected cell (2) institute gating.
3. a kind of magnetic suspension system dynamic test system according to claim 1, it is characterized in that: described Adaptive Identification unit (4) utilizes the sinusoidal signal of stimulating module (1) output and with the cosine signal of its quadrature filtered two nodes is drawn signal and carry out the robust adaptive match, wherein, adaptive step uses robust method can adjust in real time according to error of fitting.
4. a kind of magnetic suspension system dynamic test system according to claim 1, it is characterized in that: described frequency characteristic extraction unit (5) is made up of amplitude extraction module (51), phase extraction module (52), amplitude versus frequency characte extraction module (53) and phase-frequency characteristic extraction module (54), and amplitude extraction module (51) is according to the match weight coefficient battle array W of Adaptive Identification module (4)
1, W
2Calculate the amplitude response of tested module at current frequency place, result of calculation is transported in the amplitude versus frequency characte extraction module (53), amplitude versus frequency characte extraction module (53) is the amplitude-versus-frequency curve of the amplitude response of whole test frequency section with the synthetic tested module of set of variations of frequency, and phase extraction module (52) is according to the match weight coefficient battle array W of Adaptive Identification unit (4)
1, W
2Calculate the phase response of tested module at current frequency place, result of calculation is transported in the phase-frequency characteristic extraction module (54), phase-frequency characteristic extraction module (54) obtains the dynamic perfromance of tested module then to the phase-frequency characteristic curve of the phase response of whole test frequency section with the synthetic tested module of set of variations of frequency.
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| CN101607557A (en) * | 2009-03-12 | 2009-12-23 | 黄子鑫 | A kind of high-speed magnetic suspension traffic system |
| CN101624022A (en) * | 2009-08-06 | 2010-01-13 | 上海磁浮交通发展有限公司 | Normal conducting electromagnetic levitation type rail polling car |
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