CN102998032A - Method for extracting error signal in three-dimensional active vibration isolation control system - Google Patents

Abstract

The invention relates to a method for extracting an error signal in a three-dimensional active vibration isolation control system. Force sensors are arranged between an active vibration isolator casing and an upper clamping plate or between the active vibration isolator casing and a base. Acceleration sensors are additionally arranged on the active vibration isolator casing, respectively measure acceleration responses of the base in a vertical direction, a horizontal direction and a longitudinal direction, and calculates volume by utilizing force signals and acceleration signals measured at the same time in the same direction, and then the error signal can be obtained. The method can be practically applied to active vibration isolation of motive power machines of ships, planes and the like with complicated vibration environments, and ensures smooth operation of the active vibration isolation system.

Description

The extracting method of error signal in the three-dimensional Control System for Active Isolation

Technical field

Invention relates to active vibration isolation system, is specifically related to the extracting method of error signal in the Control System for Active Isolation, belongs to the active Vibration Isolation field.

Background technology

Active vibration isolation is to detect vibration source or the main vibration characteristics of controll plant, in controlled system, introduce secondary vibration source, and regulate the output of secondary vibration source (being actuator) by certain control method, the vibration of its generation and the vibration of main vibration source are offseted, thereby reach the purpose of vibration isolation.

Active vibration insulator is the critical piece in the vibrating isolation system, shell and train wheel bridge form the housing of active vibration insulator, three actuator of enclosure interior spatial placement, three actuator apply secondary driving source to vertical, horizontal, vertical three directions respectively, because the train wheel bridge of clamping sensor and the existence of shell coupling bolt rigidity, especially the power sensor of vertical and horizontal, train wheel bridge and shell are horizontal, vertically relative displacement is very little, the order excitation signal amplitude that causes recording disturbs excitation amplitude not outstanding with respect to other, and the poor TV signal that single-sensor records is clear.

Present control algolithm for active vibration isolation mostly adopts the adaptive filter algorithm based on LMS, as shown in Figure 1.Wherein P (z) is primary channel, is from being activated to the transport function between the error pick-up; S (z) is secondary channel, is to output to transport function between the sensor of picking errors signal from controller; D (n) is for being delivered to the vibration signal on the actuator; Y (n) is the signal of controller output; E (n) is error signal; W (z) is controller.

Based on the adaptive filter algorithm of LMS, i.e. w (k+1)=w(k)-μ e (k) x (k); W is filter coefficient, and μ is convergence coefficient, and x (k) is reference-input signal; Wherein, error signal e (k) is a key parameter of the final convergence of regulation and control system, the quality of its extraction is the last control effect of impact directly, and for hull or aircraft is this encourages vibrative complex casing structure by power machines such as engines, the vibration signal that single-sensor picks up will be not only the impact of a under-chassis vibration and this under-chassis place active vibration insulator, also comprise the vibration signal of other under-chassis and other equipment.So the conventional method of only extracting error signal by single-sensor does not usually satisfy the requirement of actual active vibration isolation function.

Summary of the invention

In view of this, the invention provides the extracting method of error signal in a kind of three-dimensional Control System for Active Isolation, can be applied to the active vibration isolation of the motive power machine equipments such as boats and ships, aircraft of vibration environment complexity, and guarantee the trouble-free operation of active vibration isolation system.

In active vibration isolation system, three actuator apply secondary driving source in order to suppress seat vibration to vertical, horizontal, vertical three directions respectively, two three-dimensional force transducers are symmetricly set between active vibration insulator shell and the train wheel bridge, or be arranged between active vibration insulator shell and the pedestal the corresponding three-dimensional acceleration transducer of installing on the active vibration insulator shell of each three-dimensional force transducer setting position;

At this moment with the acceleration transducer that adds on the active vibration insulator shell, record respectively the acceleration responsive of the horizontal x of pedestal, vertical y, three directions of z of hanging down, because the mechanical impedance of pedestal is very large, acceleration transducer is subjected to the vibration effect less of other under-chassis or equipment, the equidirectional force signal that records with synchronization and acceleration signal draw error signal after calculating convolution, that is:

$\left\{\begin{array}{c}{e}_x\left(k\right)=f_x\left(k\right)*a_x\left(k\right)\\ e_y\left(k\right)=f_y\left(k\right)*a_y{\left(k\right)}_{}\\ e_z\left(k\right)=f_z\left(k\right)*a_z\left(k\right)\end{array}\right.$

Owing to two groups of three-dimensional force transducers and three-dimensional acceleration transducer are arranged, two error signals that each direction records are averaged as final error signal.

Wherein, f _i(k _i) be force sensor signals; a _i(k _i) be acceleration transducer signals, k is synchronization, i is x, y and three directions of z.

Beneficial effect: error signal choosing method of the present invention obtains error signal easily and is reasonable, can avoid other vibration sources to the interference of active vibration isolation system, can be applied to the complex vibration environment of multiple devices in boats and ships, the aircraft, hang down, horizontal, vertical active vibration isolation.

Description of drawings

Fig. 1 is adaptive LMS filtering algorithm schematic diagram;

Fig. 2 is the structure principle chart of active vibration insulator;

Fig. 3 is the A-A view of Fig. 2.

Wherein, 1-passive vibration isolation device, 2-train wheel bridge, 3-power sensor, 4-acceleration transducer, 5-shell.

Embodiment

Below in conjunction with the accompanying drawing embodiment that develops simultaneously, describe the present invention.

The invention provides the extracting method of error signal in a kind of three-dimensional Control System for Active Isolation, as shown in Figures 2 and 3, in the active vibration insulator system, three actuator apply secondary driving source in order to suppress seat vibration to vertical, horizontal, vertical three directions respectively, power sensor 3 is placed between active vibration insulator shell 5 and the train wheel bridge 2, or is placed between active vibration insulator shell 5 and the pedestal; The corresponding acceleration transducer 4 of installing near the active vibration insulator shell each power sensor 3; At this moment with the acceleration transducer that adds on the active vibration insulator shell, record respectively the acceleration responsive of the horizontal x of pedestal, vertical y, three directions of z of hanging down, because the mechanical impedance of pedestal is very large, acceleration transducer is subjected to the vibration effect less of other under-chassis or equipment, the equidirectional force signal that records with synchronization and acceleration signal draw error signal after calculating convolution, that is:

$\left\{\begin{array}{c}{e}_x\left(k\right)=f_x\left(k\right)*a_x\left(k\right)\\ e_y\left(k\right)=f_y\left(k\right)*a_y{\left(k\right)}_{}\\ e_z\left(k\right)=f_z\left(k\right)*a_z\left(k\right)\end{array}\right.$

Owing to two groups of three-dimensional force transducers and three-dimensional acceleration transducer are arranged, two error signals that each direction records are averaged as final error signal.

Wherein, f _i(k _i) be force sensor signals; a _i(k _i) be acceleration transducer signals, k is synchronization, i is x, y and three directions of z.

In sum, more than be preferred embodiment of the present invention only, be not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (1)

1. the extracting method of error signal in the three-dimensional Control System for Active Isolation, in the active vibration insulator system, three actuator apply secondary driving source in order to suppress seat vibration to vertical, horizontal, vertical three directions respectively, it is characterized in that, two three-dimensional force transducers are symmetricly set between active vibration insulator shell and the train wheel bridge, or be arranged between active vibration insulator shell and the pedestal the corresponding three-dimensional acceleration transducer of installing on the active vibration insulator shell of each three-dimensional force transducer setting position;

Respectively record the acceleration responsive of pedestal horizontal x, vertical y, hang down z three directions with the acceleration transducer that adds on the active vibration insulator shell this moment, draws error signal after the equidirectional force signal that records with synchronization and the acceleration signal calculating convolution, that is:

$\left\{\begin{array}{c}{e}_x\left(k\right)=f_x\left(k\right)*a_x\left(k\right)\\ e_y\left(k\right)=f_y\left(k\right)*a_y{\left(k\right)}_{}\\ e_z\left(k\right)=f_z\left(k\right)*a_z\left(k\right)\end{array}\right.$

Because two groups of three-dimensional force transducers and three-dimensional acceleration transducer are arranged, two error signals that each direction records are averaged as final error signal,

Wherein, f _i(k _i) be force sensor signals; a _i(k _i) be acceleration transducer signals, k is synchronization, i is x, y and three directions of z.

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