CN103207600B - Multi-node network vibration abatement device and method - Google Patents

Abstract

The invention discloses a multi-node network vibration abatement device and method. The multi-node network vibration abatement device comprises a display and control unit, a communication bus and a plurality of node abatement units. A personal computer (pc) serves as the platform of the display and control unit, all structural point transfer characteristic estimation P<->(jw) and control frequency wi are transmitted to all the node abatement units through the communication bus, response of all structural points is monitored in real time, and accordingly the global control effect is achieved. A digital signal processor (DSP) serves as the core of the node abatement units, control signals U (ejw) are calculated through real-time iteration by measuring certain point structure response Y (ejw) in the improved feedback harmonic frequency abatement algorithm and the evaluation criteria that a mode of the structure response Y (ejw) is the minimum, response of a certain structural point is reduced, and accordingly the local abatement effect is achieved.

Description

A kind of multinode network equipment for inhibiting of vibration and vibration suppressing method

Technical field

The present invention relates to a kind of for suppressing multinode network equipment for inhibiting of vibration and the vibration suppressing method of large-size pliable structure.

Background technology

Large-size pliable structure is widely used in engineering, such as satellite antenna, suspension bridge etc.Vibrate under disturbance excitation to make large-size pliable structure and be inhibited, and keep its geometric configuration (particularly satellite antenna), just need to take some control methods.Existing method is taked a major control point to come simple local to suppress one-piece construction vibration usually, but for the total of complexity, and the control effects that often reference mark arrives can not meet design requirement.

In the course of the work, physical construction mainly experiences random vibration, but it is worthy of note, mechanical oscillatory structure response is the concentrated expression of its inherent characteristic and outside imposed load.When the frequency of external load and the natural frequency of structure is equal or close to time, the resonance response that structure comparison is large can be caused.Or when the energy comparison of frequency a certain contained by external load is large, as long as it does not act on the node of Produced by Modal, structure also can be caused to produce larger forced vibration.If a few order frequency compositions that the vibratory response energy directly restraining structure point is larger, the good effectiveness in vibration suppression of this point just can be obtained.

Summary of the invention

The object of the invention is by the analysis to large-size pliable structure, multiple sensor and controller are arranged in the key point of structure, multinode network equipment for inhibiting of vibration and the vibration suppressing method of a kind of overall situation-local associating are provided, the effectiveness in vibration suppression of total is significantly improved.

For reaching above object, the present invention adopts following technical scheme to be achieved:

A kind of multinode network equipment for inhibiting of vibration, it is characterized in that, comprise a display and control module, this display and control module connect n node by a communication bus and suppress unit, wherein, n>=2, each node suppresses the control output end of unit to be connected a node of vibration suppression object with a shaking table by a power amplifier, and this node is connected the data acquisition end of this node suppression unit with a sensor by a charge amplifier; Described indicative control unit comprises structural vibration display module, principal component analysis module and finite element analysis module, suppress the vibratory response data of each node of suppression object of unit to input to structural vibration display module, principal component analysis module and finite element analysis module by communication bus from each node, wherein, finite element analysis module analysis exports the transmission characteristic estimation of each node structure afterwards three rank main frequency w of each node structure are exported after principal component analysis module analysis _i, i=1,2,3, send to each node to suppress unit by communication bus, structural vibration display module is by each joint, and the vibratory response data analysis of point also shows; Described node suppresses unit to take dsp processor as core, is obtained the vibratory response data of a vibration suppression object node, carried out the vibration of this node of Partial controll under the assistance of Programmable logic design by signal synthesizing module by data acquisition module.

In said apparatus, described data acquisition module comprises two-way, each road is formed by an a programmable amplifier PGA and analog to digital converter AD, and wherein a road gathers the structural vibration time domain response signal of a vibration suppression object node, changes frequency domain response signal Y(e into through DSP ^jw); Another road gathers the frequency domain control signal U(e from signal synthesizing module feedback ^jw), as phase reference, for calculating Y (e ^jw) phase place; Described signal synthesizing module is made up of a three railway digital frequency synthesizer DDS and totalizer, and three road DDS produce Y (e respectively ^jw) in three corresponding sinusoidal signals of principal vibration composition, totalizer Jiang Zhe tri-road signal syntheses rises and is used as control signal U (e ^jw) ten thousand outputs.

Described communication bus comprises usb bus and turns CAN converter and the CAN being connected each node suppression unit.

A kind of vibration suppressing method, adopts aforesaid multinode network equipment for inhibiting of vibration to realize, it is characterized in that, comprise the steps:

(1) overall monitoring and controlling

First, display and control module are by suppressing the vibratory response data of unit corresponding node to be analyzed in finite element analysis module and principal component analysis module to from each node, and the transmission characteristic obtaining each node structure is respectively estimated and three rank main frequency w _ii=1,2,3, then send to each node to suppress unit by communication bus; Structural vibration display module is by the vibratory response data analysis of each node and show, and with vibration suppression object Whole Response amplitude for interpretational criteria, each node of adjustment suppresses the control of unit corresponding node structural vibration in real time;

(2) node suppresses the control of the corresponding each node structure vibration of unit

Each node suppresses unit to be received the vibratory response data of respective node structure by data acquisition module, and DSP sends according to display and control module and w _i, the vibratory response data of this node structure are converted to frequency domain response signal Y (e ^jw), then according to the feedback harmonics Restrainable algorithms of existing feedback harmonics Restrainable algorithms or improvement, calculate Y(e ^jw) amplitude of at least three rank dominant sinusoid compositions and phase place, synthesis frequency domain control signal U (e ^jw) output on corresponding node, this U (e simultaneously ^jw) ten thousand be fed back to data acquisition module as phase reference, for calculating Y (e ^jw) phase place.

In above-mentioned vibration suppressing method, principal component analysis module is used to obtain three rank main frequency w of structural response _iconcrete grammar be:

Step 1: gather t one-piece construction response signal Y (t)=[Y ₁(t), Y ₂(t) ..., Y _i(t)] ^t, wherein, i is the number that node suppresses unit; Y _it () is the measured value of structural response on i-th node, i=1,2 ..., n;

Step 2: calculate autocorrelation matrix; C _xX=E [YY ^t] ∈ R ^{n × n}; Y is the shorthand of structure Whole Response signal Y (t), C _xXit is the real number matrix of a n × n;

Step 3: calculate C _xXeigenvalue λ, and by large to little sequence, to make: λ ₁>=λ ₂>=...>=λ _i>=...>=λ _n, i=1,2 ... n;

Step 4: get C _xXfront m maximum eigenwert forms diagonal square matrix characteristic of correspondence vector forms transformation matrix truncation is carried out to it, then C _xXcan eigenvalue equation be approximately decomposed into: the variance contribution ratio of a front m major component is wherein, λ _iby large i-th eigenwert after little sequence, m<n; The variance truncation error that observation noise causes is when uncorrelated latent variable number m is unknown, the threshold value of setting η carries out truncation to m, η>=95%;

Step 5: by main for first three rank compositional characteristic value λ _ipass through transformation matrix be converted to respective frequencies W _i, i=1,2,3.

The expression formula of the feedback harmonics Restrainable algorithms of described improvement is:

${\mathrm{\&mu;}}_k={\mathrm{\&mu;}}_0\frac{\left|Y_k\right|}{\max \left|Y\right|}$

$U_{k+1}=U_k-2{\mathrm{\&mu;}}_k{P}_k^T{Y}_k$

Wherein that certain node structure transmission characteristic is estimated matrix form, certain node structure frequency domain response signal Y (e ^jw) vector form, it is the vector form of controlled quentity controlled variable; Max|Y| is the maximal value that structural response occurs in iteration course, and subscript k represents current time, and k+1 represents subsequent time; Footnote r and i represents real part and imaginary part respectively; w _jsubscript j=1,2,3, represent three order frequencies respectively; Iteration coefficient initial value is

The advantage of apparatus of the present invention is, display and control module and some nodes suppress unit to be linked to be network by communication bus, display and control module monitoring under, multiple node suppresses the several key points of unit to large-size pliable structure to carry out vibration suppression, serve on the whole to the suppression of structure, reach the effect that single rejector cannot be accomplished.The node being core by DSP and PLD suppresses cell processing speed very fast, can realize real-time control.This device can drive multiple actuator, should scope wider.

The advantage of the inventive method is, suppresses different on hardware configuration of unit to be divided the work according to display and control module and node.The display of Based PC platform and control module have stronger arithmetic capability, can monitor each point response in real time, and carry out the structure analysis of off-line, for node suppresses unit to provide structural information.Node suppresses unit be a high-speed dsp and PLD to be the rejector of core, can rapid computations iterative algorithm, realizes the real-time vibration suppression on certain system point.The basis with structure overall permanence information can be improved the vibration suppressioning effect to large-size pliable structure.The advantages such as the feedback harmonics Restrainable algorithms of the improvement that this method adopts has systematic parameter insensitive, fast convergence rate, and convergence process is stable.

Accompanying drawing explanation

Below in conjunction with the drawings and the specific embodiments, the present invention is described in further detail.

Fig. 1 is the one-piece construction block diagram of equipment for inhibiting of vibration of the present invention.

Fig. 2 is vibration suppressing method of the present invention specific embodiment schematic diagram.Wherein: (a) figure is the functional block diagram of display and control module in Fig. 1; B () figure is principal component analysis algorithm flow chart in (a) figure; C () figure is the data flow schematic diagram that Fig. 1 interior joint suppresses unit and vibration suppression object; D () figure is node vibrations Restrainable algorithms process flow diagram.

Fig. 3 is the effect contrast figure that single control and multinode network of the present invention control to the vibration suppression of elongate cylinder shell.Wherein, horizontal ordinate is the test point numbering be distributed on elongate cylinder shell, and ordinate represents each point grms value.

Fig. 4 is local vibration control effects comparison diagram of the present invention.Wherein, (a) figure is the response convergence process adopting feedback harmonics suppressing method; B () figure is the response convergence process adopting the inventive method.

Embodiment

As shown in Figure 1, multinode network equipment for inhibiting of vibration of the present invention comprise a display and control module, communication bus, a n node suppression unit and corresponding n vibration suppression object (node a-1, a-2 ..., a-n), n >=2.Indicative control unit for platform with pc machine, uses communication bus to suppress unit (No. 1-n number) to be connected with each node, plays the effect to vibration suppression object global detection and overall vibration suppression.Communication bus comprises usb bus and turns CAN converter and the CAN being connected each node suppression unit.

Each node suppresses unit to take dsp processor as core, Programmable logic design is connected with DSP with 19 bit address buses by 16 bit data bus, obtained the vibratory response data of a vibration suppression object node by data acquisition module, under the assistance of PLD, carried out the vibration of this node of Partial controll by signal synthesizing module.Node suppresses unit to be connected with communication bus by CAN (the Controller Area Network) bus transceiver that DSP is integrated, CAN adopts two-wire system communication, structure is simple, adopt the CAN communication agreement of ingehious design, make it have high reliability and good error detection capability, can be applied to that environment temperature is severe, electromagnetic radiation is strong and vibrate large industrial environment.

Data acquisition module is divided into two-way, an one route one programmable amplifier PGA-0 and analog to digital converter AD is formed, the input end of PGA-0 is connected a node of vibration suppression object with a sensor by a charge amplifier, gather time domain response signal Y (t) and the time domain control signal U (t) of this dot structure, by the frequency domain response signal Y (e obtaining this system point after DSP process ^jw) and frequency domain control signal U (e ^jw); Another route programmable amplifier PGA-1 and analog to digital converter AD is formed, and gathers the frequency domain control signal U(e exported from signal synthesizing module ^jw), PGA can regulate the magnitude of collection signal, controls the change number of delivering letters between-10V to+10V.What AD adopted is high speed 16 bit A/D converters, sends data by 16 bit data external data buss to DSP.Control signal U (e ^jw) as phase reference, be used for the phase place of calculated response signal.

Signal synthesizing module is made up of a three tunnel Direct Digital Frequency Synthesizers DDS and totalizer.Three road DDS are respectively by Y (e ^jw) in three corresponding sinusoidal signals of principal vibration composition synthesized by totalizer, as node control signal U (e ^jw) output to this node by a power amplifier and a shaking table.Programmable logic design assists DSP control and management exterior I C, as PGA, DDS etc.PLD and DSP is by 16 external data buss and 19 outer address bus co-ordinations.Use VHDL hardware description statement, PLD can write the Control timing sequence to outside IC, external unit is mapped as register address to DSP, alleviates its burden, simplifies the control of main control chip to outside IC.

As shown in Figure 2, vibration suppressing method of the present invention, comprise the overall situation monitoring and node suppress two parts:

(1) overall monitor and forecast.

As shown in Figure 2 (a) shows, first, display and control module, by suppressing the vibratory response data of each node of suppression object of unit to carry out main composition and finite element analysis in finite element analysis module and principal component analysis module from each node, obtain the estimation of structure transmission characteristic on each point respectively and three rank main frequency w in structural response _i, i=1,2,3, then send to each node to suppress unit by communication bus; Structural vibration display module is by the vibratory response data analysis of each node and show, and with vibration suppression object Whole Response amplitude for interpretational criteria, each node of adjustment suppresses unit in real time.

Show with reference to Fig. 2 (b), use principal component analysis module to obtain three rank main frequency w of structural response _i, i=1, the concrete grammar of 2,3 is:

Step 1: gather t one-piece construction response signal Y (t)=[Y ₁(t), Y ₂(t) ..., Y _i(t)] ^t, wherein, i is the number that node suppresses unit; Y _it () is the measured value of structural response on i-th node, i=1,2 ..., n;

Step 2: calculate autocorrelation matrix y is the shorthand of structure Whole Response signal Y (t), C _xXit is the real number matrix of a n × n;

Step 3: calculate C _xXeigenvalue λ, and by large to little sequence, to make: λ ₁>=λ ₂>=...>=λ _i>=...>=λ _n, i=1,2 ..., n;

Step 4: get C _xXfront m maximum eigenwert forms diagonal square matrix characteristic of correspondence vector forms transformation matrix truncation is carried out to it, then C _xXcan eigenvalue equation be approximately decomposed into: the variance contribution ratio of a front m major component is wherein, λ _iby large i-th eigenwert after little sequence, m<n; The variance truncation error that observation noise causes is when uncorrelated latent variable number m is unknown, the threshold value of setting η carries out truncation to m, η>=95%;

Step 5: by main for first three rank compositional characteristic value λ _ipass through transformation matrix be converted to respective frequencies w _i, i=1,2,3.

(2) node suppresses the control of unit.

As shown in Fig. 2 (c), (d), first, DSP reception display and control module send with main composition respective frequencies w _i, i=1,2,3.Then, data acquisition module measures certain system point time domain response signal Y(t) and time domain control signal U (t), sample frequency is chosen as 2048hz, and every frame gathers 512 points; Then DSP is with U (t) the frequency domain response signal Y (e that fast Fourier transform (FFT) obtains system point to the Y (t) of certain system point respectively ^jw); Last DPS is according to feedback harmonics Restrainable algorithms (Veres, S., Adaptive harmonic control. International Journal of Control, 2001.74 (12): p.1219-1225.) or the present invention improve feedback harmonics Restrainable algorithms, calculate Y (e ^jw) amplitude of three rank dominant sinusoid compositions and phase place, finally by frequency w corresponding to three rank amplitudes, phase place and main composition _isend to three road DDS, synthesis frequency domain control signal U (e ^jw) export, this U (e simultaneously ^jw) be fed back to PGA-0(as phase reference and be used for calculating frequency domain response signal Y (e ^jw) phase place).

Wherein, the expression formula of the feedback harmonics Restrainable algorithms of the present invention's improvement is:

${\mathrm{\&mu;}}_k={\mathrm{\&mu;}}_0\frac{\left|Y_k\right|}{\max \left|Y\right|}$

$U_{k+1}=U_k-2{\mathrm{\&mu;}}_k{P}_k^T{Y}_k$

Wherein it is the estimation of certain dot structure transmission characteristic matrix form, certain dot structure response Y (e ^jw) vector form, it is the vector form of controlled quentity controlled variable.μ is repeatedly coefficient, changes along with the progress of iteration.Iteration coefficient initial value is max|Y| is the maximal value that structural response occurs in iteration course.Subscript k represents current time, and k+1 represents subsequent time; Footnote r and i represents real part and imaginary part respectively; w _jsubscript j=1,2,3, represent three order frequencies respectively.

Be below adopt an application examples of the present invention: the elongate cylinder shell of an aluminum alloy materials is supported, excited vibration platform Complicated Periodic excitation under vibration.Signal is sent to Node Controller (node suppression unit) by the acceleration transducer being positioned at reference mark, and Node Controller adopts and improves feedback harmonics Restrainable algorithms output control signal, drives the vibratory response of shaking table inhibitory control point.On elongate cylinder shell, accelerometer is arranged, the response change of test experience process middle shell entirety according to 30 the some positions arranged during finite element analysis.

As shown in Figure 3, what the histogram of oblique line texture mark reflected is the vibration distribution situation of arranging single node rejectors at 14.What the histogram that real texture marks reflected is the vibration distribution situation that employing multinode network vibration damper acts on 12 and 21.As can be seen from Figure, adopt the structural vibration of multinode network vibration damper to obtain on the whole and significantly suppress, better than single node inhibition.

As shown in Figure 4, contrast (a) and (b) two figure can find out, the response convergence process speed of the feedback harmonics suppressing method of the improvement adopting the present invention to propose is faster, and does not have the oscillatory occurences in (a) figure, and inhibition is better.

Claims (6)

1. a multinode network equipment for inhibiting of vibration, it is characterized in that, comprise a display and control module, this display and control module connect n node by a communication bus and suppress unit, wherein, n>=2, each node suppresses the control output end of unit to be connected a node of vibration suppression object with a shaking table by a power amplifier, and this node is connected the data acquisition end of this node suppression unit with a sensor by a charge amplifier; Described display and control module comprise structural vibration display module, principal component analysis module and finite element analysis module, suppress the vibratory response data of each node of suppression object of unit to input to structural vibration display module, principal component analysis module and finite element analysis module by communication bus from each node, wherein, finite element analysis module analysis exports the transmission characteristic estimation of each node structure afterwards three rank main frequencies of each node structure are exported after principal component analysis module analysis send to each node to suppress unit by communication bus, structural vibration display module is by the vibratory response data analysis of each node and show; Described node suppresses unit to take dsp processor as core, is obtained the vibratory response data of a vibration suppression object node, carried out the vibration of this node of Partial controll under the assistance of Programmable logic design by signal synthesizing module by data acquisition module.

2. multinode network equipment for inhibiting of vibration as claimed in claim 1, it is characterized in that, described data acquisition module comprises two-way, each road is formed by an a programmable amplifier PGA and analog to digital converter AD, wherein a road gathers the structural vibration time domain response signal of a vibration suppression object node, changes frequency domain response signal Y (e into through DSP ^jw); Another road gathers the frequency domain control signal U (e from signal synthesizing module feedback ^jw), as phase reference, for calculating Y (e ^jw) phase place; Described signal synthesizing module is made up of a three railway digital frequency synthesizer DDS and totalizer, and three road DDS produce Y (e respectively ^jw) in three corresponding sinusoidal signals of principal vibration composition, totalizer Jiang Zhe tri-road signal syntheses rises and is used as control signal U (e ^jw) export.

3. multinode network equipment for inhibiting of vibration as claimed in claim 1, is characterized in that, described communication bus comprises usb bus and turns CAN converter and the CAN being connected each node suppression unit.

4. a vibration suppressing method, adopts multinode network equipment for inhibiting of vibration according to claim 1 to realize, it is characterized in that, comprise the steps:

(1) overall monitoring and controlling

First, display and control module are by suppressing the vibratory response data of unit corresponding node to be analyzed in finite element analysis module and principal component analysis module to from each node, and the transmission characteristic obtaining each node structure is respectively estimated and three rank main frequency w _i, i=1,2,3, then send to each node to suppress unit by communication bus; Structural vibration display module is by the vibratory response data analysis of each node and show, and with vibration suppression object Whole Response amplitude for interpretational criteria, each node of adjustment suppresses the control of unit corresponding node structural vibration in real time;

(2) node suppresses the control of the corresponding each node structure vibration of unit

Each node suppresses unit to be received the vibratory response data of respective node structure by data acquisition module, and DSP sends according to display and control module and w _i, the vibratory response data of this node structure are converted to frequency domain response signal Y (e ^jw), then according to the feedback harmonics Restrainable algorithms of existing feedback harmonics Restrainable algorithms or improvement, calculate Y (e ^jw) amplitude of at least three rank dominant sinusoid compositions and phase place, synthesis frequency domain control signal U (e ^jw) output on corresponding node, this U (e simultaneously ^jw) be fed back to data acquisition module as phase reference, for calculating Y (e ^jw) phase place.

5. vibration suppressing method as claimed in claim 4, is characterized in that, uses principal component analysis module to obtain three rank main frequency w of structural response _iconcrete grammar be:

Step 1: gather t one-piece construction response signal Y (t)=[Y ₁(t), Y ₂(t) ..., Y _i(t)] ^t, wherein, i is the number that node suppresses unit; Y _it () is the measured value of structural response on i-th node, i=1,2 ..., n;

Step 2: calculate autocorrelation matrix C _xX=E [YY ^t] ∈ R ^{n × n}; Y is the shorthand of structure Whole Response signal Y (t), C _xXit is the real number matrix of a n × n;

Step 3: calculate C _xXeigenvalue λ and by large to little sequence, make: λ ₁>=λ ₂>=...>=λ _i>=...>=λ _n, i=1,2 ..., n;

Step 4: get C _xXfront m maximum eigenwert forms diagonal square matrix characteristic of correspondence vector forms transformation matrix truncation is carried out to it, then C _xXcan eigenvalue equation be approximately decomposed into: the variance contribution ratio of a front m major component is wherein, λ _iby large i-th eigenwert after little sequence, m<n; The variance truncation error that observation noise causes is when uncorrelated latent variable number m is unknown, the threshold value of setting η carries out truncation to m, η>=95%;

Step 5: by main for first three rank compositional characteristic value λ _ipass through transformation matrix be converted to respective frequencies w _i, i=1,2,3.

6. vibration suppressing method as claimed in claim 4, it is characterized in that, the expression formula of the feedback harmonics Restrainable algorithms of described improvement is:

${\mathrm{\&mu;}}_k={\mathrm{\&mu;}}_0\frac{\left|Y_k\right|}{\max \left|Y\right|}$

$U_{k+1}=U_k-{2\mathrm{\&mu;}}_k{P}_k^T{Y}_k$

Wherein $P^T=\left[\begin{array}{cc}{\hat{P}}_r\left(w_j\right)& {\hat{P}}_i\left(w_j\right)\\ -{\hat{P}}_i\left(w_j\right)& {\hat{P}}_r\left(w_j\right)\end{array}\right]$ That certain node structure transmission characteristic is estimated matrix form, $Y=\left[\begin{array}{c}{Y}_r\left(w_j\right)\\ Y_i\left(w_j\right)\end{array}\right]$ Certain node structure frequency domain response signal Y (e ^jw) vector form, $U=\left[\begin{array}{c}{U}_r\left(w_j\right)\\ U_i\left(w_j\right)\end{array}\right]$ It is the vector form of controlled quentity controlled variable; Max|Y| is the maximal value that structural response occurs in iteration course, and subscript k represents current time, and k+1 represents subsequent time; Footnote r and i represents real part and imaginary part respectively; w _jsubscript j=1,2,3, represent three order frequencies respectively; Iteration coefficient initial value is