CN1032863A - Digital random vibration control system (or method) and equipment thereof - Google Patents
Digital random vibration control system (or method) and equipment thereof Download PDFInfo
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- CN1032863A CN1032863A CN 87107034 CN87107034A CN1032863A CN 1032863 A CN1032863 A CN 1032863A CN 87107034 CN87107034 CN 87107034 CN 87107034 A CN87107034 A CN 87107034A CN 1032863 A CN1032863 A CN 1032863A
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Abstract
A kind of digital random vibration control method and vibratory equipment thereof, it will by sensor pick up through the spectrum transformation device and the oscillation power spectrum, come balanced with new spectral equalization method.It is characterized in that adopting in the spectral equalization frequency spectrum technique of estimation that does not wait degree of freedom.This vibration control equipment is made up of shaking table and the equal update the system two parts of frequency spectrum, the degree of freedom that it is characterized in that line balancing device in this update the system and exponential average device is variable, and they can be with comparer 6, reference power spectrum storer, corrector 13 have been formed the variable fast update the system of one degree of freedom fast.Vibratory equipment precision height of the present invention, fast, the good stability of balancing speed.
Description
The invention belongs to the control system of vibration environment test equipment, and the vibratory equipment that has this system.
In commercial production and engineering, many test specimens need carry out random vibration test.This test generally is installed on test specimen on the shaking table, with control system shaking table and test specimen thereof is among the predetermined required random vibration state.Now Chang Yong vibration control system is to be the digital random vibration control system of principle with the spectral equalization method, referring to United States Patent (USP) 3710082 and 3848115.This vibration control system can excite multiple frequency at synchronization, the rumble spectrum wide ranges, and adjust simply, repeatability is good, is therefore used widely.This digital random vibration control system, its frame principle figure as shown in Figure 1,1 is controlled device shaking table (it comprises power amplifier, vibrator, test specimen, sensor) among the figure, 2 is the A/D transducer, 3 is time domain-frequency domain spectrum transformation device, 4 is the linear averaging device, and 5 is the exponent-weighted average device, and 6 is comparer (divider S γ/Sy
n), 7 is the phase randomization device, and 8 are reference power spectrum storer, and 9 for revising Sxn+1=Sxn(S
γ/ Sy
n) multiplier, 10 is frequency domain-time-domain spectral transducer, 11 is the time-domain randomization generator, 12 is the D/A transducer.
The control procedure of this system is: the vibrator that is gone to drive shaking table 1 by drive signal Sxn vibrates, and picked up the vibration signal of test specimen by the sensor of shaking table 1, reach the transmission characteristic of test specimen and non-linear because of shaking table itself this moment, and this pickoff signals is different with former drive signal.This vibration signal is through A/D(mould/number) transducer 2 is converted to digital signal, by time domain/frequency domain converter 3 time-domain signal is transformed to power spectrum Syn(ω again), for obtaining the power controlling spectrum Syn(ω of high confidence level) value, need Syn(ω) average the raising degree of freedom through repeatedly measuring, this is K by linear averaging device 4(average time) and exponential average device 5(weighting coefficient be N) carry out, in average computation, as degree of freedom N
OF=2K(2N-1) bigger, Syn(ω) estimation accuracy is higher.This power controlling spectrum S
Yn(ω) compare with predetermined reference power spectrum S γ (ω), difference relatively delivered to corrector 9 revise, be i.e. Sxn+1(ω by comparer 6)=Sxn(ω) (S
γ(ω)/Sy
n(ω)) finish and once select generation, compose Sxn+1 and produce new driving power, after this with Sxn+1(ω) synthesize complex number spectrum with random phase generator 7, and deliver to frequency domain → time-domain spectral transducer 10, make a frame frequency territory drive signal become a frame time domain driving signal, then by time-domain randomization generator 11 with a frame time domain driving signal randomization, becoming continuous multiframe time-domain signal uses as drive signal, by the several mode converters 12 of D/A 11 time-domain signal is become simulating signal again, remove to drive vibrator once more, the repetitive operation of process like this, the feasible power spectrum Sxn that drives the drive signal of shaking table constantly revises according to the characteristic of shaking table and test specimen, making oscillation power system spectrum (Syn) shape of shaking table and test specimen, last to compose (S γ) identical with giving fixed reference power, thereby finish random vibration closed-loop control process.
From the above, the spectral equalization of the closed-loop control system of controlled device-shaking table, its ultimate principle is the transport function revised law, its iterative formula is:
Sx
n＋1（ω）＝ (Sr（ω）)/(H（ω）) = (Sr（ω）)/(Sy
n（ω）/Sx
n（ω）) =
Sx
n（ω）· (Sr（ω）)/(Sy
n（ω）)
H(ω in the formula) be the transport function of controlled device,
S γ (ω) is the reference power spectrum, i.e. the test specimen rumble spectrum that will reach,
Sy
n(ω) be the n time control power spectrum,
Sxn(ω) be the n time driving power spectrum,
Sx n+1(ω) is the n+1 time driving power spectrum.
The problem that goes up above-mentioned digital random vibration control system existence is:
1. the erection rate of spectral equalization is slow, the variation of responding system in time, this be because: (1) frequency spectrum FEEDBACK CONTROL is different from time domain feedback, it will adopt frame data (such as 1024 point data) earlier could begin to carry out spectrum transformation, and the calculated amount of spectrum transformation own is big, computing time is long, thereby the time interval of required correction is long.Such as the vibration frequency span be 2KH
ZThe time, if the sample frame time is being calculated as 0.1 second and needing 0.3 second time just can measure power spectrum so of 0.2 second time domain → frequency domain transform.(2) as can be known, the key of spectral equalization is to measure rapidly and accurately the transfer function H (ω) of controlled device, that is measures power controlling spectrum Syn(ω rapidly and accurately) by top iterative formula.When pseudorandom was vibrated, the time domain vibration signal was the cycle, and when object was linear time invariant system, frame sampling data (one-period) can be measured Sy in theory
n(ω), promptly once revise and to reach balanced.But the true random vibration of the many employings of actual vibration test, and real system all has non-linear existence, according to theory of random processes, the power spectrum valuation of true random vibration signal must be average through repeatedly measuring, improve Syn(ω) accuracy and the degree of confidence of valuation, must strengthen the degree of freedom N of measurement
OF, that is to improve K or N.Such as requiring measuring accuracy to be ± the 1dB(90% degree of confidence) time, when the valuation of calculation control spectrum, should accumulate 126 degree of freedom at least, but linear averaging number of times excessive (K is big), to revise interlude just long at every turn, and balancing speed is just slow, the just variation of responding system is in time tested dangerous.Such as working as N
OF=126 o'clock, with linear averaging (N=1), then require K=63 as only, 63 control spectrums of promptly every measurement are just revised once, need 0.3 second if measure once, just need 19 seconds 63 times, and the problem of generation is just uncontrollable in these 19 seconds like this; As strengthen exponential weighting coefficient N, and as K=1 N=32 then,, make system responses slack-off though do not increase the correction time at interval, generation time lags behind, such as when the N=16, according to exponent-weighted average formula S y
NewSynew is new exponential average in=Syold+ ((Sylast-Syold))/(N) formula, Syold is last exponential average, SyLast is the measured value of this control spectrum, by formula as seen, this measured value only accounts for 1/ (N)=1/16 to exponential average result's contribution, the error that system performance changes or external interference causes will on average just obviously show through 16 measurements at least, as measure once be 0.3 second then after 5 seconds, know by the closed-loop control theory, easily produce vibration big time lag, receives
Speed is slack-off, and overshoot is very big, makes the The whole control system instability.Following situation, in the vibrating device of practical application, will take place in the existing problem of above-mentioned equalization methods:
(1) when oscillation intensity ascending, descending level or during the controlled device change in gain, oscillation intensity will just can reach stable through repeatedly vibrating, such as when the N=16, then will through revise for tens times, repeatedly vibration could be stablized, and oscillation amplitude at this moment can reach more than tens percent.This long-time hard oscillation excessively easily makes the test specimen overtesting, perhaps causes test specimen to damage.
(2) change or system is subjected to strong external interference and produces resonance during peak valley when shaking table test specimen self character, system needs to revise, repeatedly vibrate and could compensate through tens times, balancing speed is slow excessively, though at this moment the total oscillation intensity of system changes not too greatly, but have the local resonance peak for a long time, the resonance position of test specimen easily produces overtesting or damage.
2. its dynamic quality of digital random vibration control system of existing spectral equalization revised law is poor.This is because lack the improvement of correction link in the system, in general control system, for making system stability, correction link is all arranged, but because of the frequency spectrum correction will be by line relatively, proofread and correct (such as 512 spectral lines commonly used by line, same correction algorithm will repeat 512 times) in order to satisfy the requirement of control in real time, existing traditional spectral equalization method adopts this algorithm of simple multiplication and division algorithm (Sxn+1=Sxn (Sr)/(Syn)) simpler, correction time is wanted much shorter than the algorithm that correction link is arranged, but dynamic quality is poor.
In order to improve above-mentioned existing problems, hope can have a kind of new fast, stable, high-precision equalization methods, it can make new control system and stabilization of equipment performance thereof good, the precision height, balancing speed is fast.The design of implementing this purpose is: the part that does not need in existing traditional equalization methods to carry out multiple averaging calculating is divided away from traditional frequency spectrum correction, do not carry out multiple averaging, and deal carefully with other method, remaining " frequency spectrum " part is then still used original spectral equalization method.So just can make vibration control system reduce the time interval of time lag or correction, the number of oscillation reduces, and quickens balancing speed.
Above-mentioned design can go to solve with the combination of two kinds of new equalization methods or two kinds of new methods respectively, the first changes to shaking table test specimen self character or is subjected to strong external interference and the local resonance peak valley situation that produces (excessive local error point is arranged this moment), to adopt the local revised law that quickens, it two is from power spectrum the oscillation intensity branch to be gone out independent control, make oscillation intensity fast, stable, balanced accurately, to prevent that oscillation intensity is overproof and because of oscillation intensity departs from the overproof situation of spectral line is taken place.Above-mentioned two kinds of methods can select to adopt one of them according to the situation and the needs of the vibrational system of reality, also can be with this two method in conjunction with employing.
Method of in the relevant power spectrum oscillation intensity branch being gone out and equipment thereof, we apply for a patent simultaneously, and are described in detail in another application case simultaneously, referring to Chinese patent application 87107035
What the present invention relates to is a kind of equalization methods and equipment thereof of new digital random vibration control, its objective is and improves existing vibration control system and equipment thereof, make fast by the vibratory equipment balancing speed of this new control system, stability good, the precision height.
Feature of the present invention is: the test specimen vibration signal that will be picked up by shaking table sensor 1, by mould-number (A/D) transducer 2, the oscillation power spectrum of time domain-frequency domain spectrum transformation device 3 conversions, but but in the frequency spectrum valuation, whistle Yun Jiao 4 and variable freedom exponential average device 15 for each spectral line by variable freedom, adopt the averaging method that does not wait degree of freedom, promptly the valuation of spectral line is differentiated by quickening corrector, when the balancing error of a certain spectral line obviously surpasses the corresponding estimation accuracy of degree of freedom of this spectral line, just reduce the degree of freedom of this averager 14 and 15, when the balancing error of another certain spectral line during, just improve the degree of freedom of this spectral line near the corresponding estimation accuracy of degree of freedom of this spectral line.The vibration control equipment of spectral equalization method that does not wait degree of freedom is by shaking table and do not wait degree of freedom spectral equalization system two parts to be formed, but it is characterized in that having in this system the quick update the system of a variable freedom, it can carry out the quick correction of variable freedom to the overproof point in part.
Principle of the present invention is that spectral equalization is the transmission characteristic for target compensation, and the transmission characteristic of object is metastable, even the test specimen characteristic changes or strong external interference when producing the resonance peak valley sometimes, also still metastable, it is not a stochastic process, thereby does not need multiple averaging.But want the transport function of measuring object, at first will carry out the frequency spectrum valuation to vibration signal, and the precision of frequency spectrum valuation needs and balancing error adapts, just can make the equilibrium of system both stable fast, precision is good again.Therefore when balancing error during obviously greater than the frequency spectrum estimation accuracy, error is mainly owing to drive bad the causing of spectrum compensation, should reduce degree of freedom this moment, so that equilibrium is quickened and is reached stable, and when balancing error during near this frequency spectrum estimation accuracy, the precision of spectrum valuation is main just, should improve degree of freedom this moment to improve the precision of frequency spectrum valuation, to reduce balancing error.In the vibrational system and equipment of reality, often there are external interference or test specimen self character to change in the balancing procedure of vibrational state and generation resonance peak valley, local some spectral line generation occurs and indivedual excessive overproof points always occur than mistake, if do not change degree of freedom with traditional equalization, then will be through repeatedly vibration could be balanced, perhaps all spectral lines are all reduced degree of freedom, like this major part balanced the very little spectral line of error, will reduce at random quickly coming because of degree of freedom, make error become big, as improving degree of freedom again, recover the original accuracy of equalization, then again with the long time, test just often is in than under the mistake like this, and this is unallowed.The present invention adopts the method that does not wait degree of freedom for each spectral line in the frequency spectrum valuation for this reason.When the error of a certain spectral line in the spectral line obviously surpasses corresponding degree of freedom estimation accuracy, adopt the method that this spectral line is reduced degree of freedom, accelerate the balancing speed and the stability of this spectral line.For example during N=1, just can eliminate the time lag that exponential average brings, once revising on principle just can be balanced good, when balancing error during near the corresponding estimation accuracy of degree of freedom of this spectral line, then this spectral line is adopted the raising degree of freedom again, improve estimation accuracy, thereby improve the accuracy of equalization.Method of the present invention both can have been quickened the excessive spectral line of round-off error, can not make balanced less at random the coming of spectral line of error of great majority again, had so just solved the high accuracy of equalization, quick and stable contradiction dexterously.The experiment proved that, change the resonance peak valley that produces for strong external interference or test specimen self character, need revise, repeatedly vibrate and to compensate through tens times with traditional equalization methods, and with the present invention as long as revise seldom just can be balanced fast excessive overproof of vibration several times, effect is fairly obvious.
Fig. 2 is the frame principle figure of the present invention-new Digital random vibration control systems and equipment thereof.
Fig. 3 and Fig. 4 for resonance or external interference cause local overproof the time simulation fair curve.
1 is the controlled device shaking table among Fig. 2,2 is the A/D transducer, 3 is time domain-frequency domain spectrum transformation device, but 14 is variable freedom linear averaging device, but 15 is variable freedom exponent-weighted average device, 6 is comparer, 7 is the phase randomization device, 8 are reference power spectrum storer, and 9 for revising Sxn+1=Sxn(Sr/Syn) corrector, 10 is frequency domain-time-domain spectral transducer, 11 is the time-domain randomization generator, 12 is the D/A transducer, and 13 for unusual overproof some part reduces degree of freedom acceleration corrector, and 16 is correction link PID regulator (or other DDC control algolithms).
The control procedure of this system is: square frame 1,2,3,6～12 effect are identical with traditional spectral equalization method (referring to Fig. 1), but but 14,15 for the variable freedom averager is characterized in that the quick update the system of variable freedom power ratio control are composed Syn by comparator 6 and predetermined ginseng Examining power spectrum Sr compares, difference is relatively delivered to earlier the acceleration corrector 13 that unusual overproof part reduces the free degree, bigger for balancing error, obvious overproof spectral line, send back to averager 14 and 15 by accelerating corrector 13, make it reduce the free degree, with balancing speed and the stability of accelerating this spectral line, its very fast arrival is stablized; And for balancing error during near the corresponding estimation accuracy of number of degrees of freedom, of this spectral line, but also can send back to variable freedom averager 1415 by accelerating corrector 13, improve the free degree of this spectral line, improve estimation accuracy with traditional spectral equalization method, thereby improve the accuracy of equalization. But acceleration corrector 13, exponential average device 15, comparator 6, reference power spectrum memory 8 have formed the quick update the system of a variable freedom. In the system 16 is correction link, and the characteristic of its recoverable controlled device is improved the dynamic quality of closed loop feedback, obtains the safety of test specimen.
The excessive simulation fair curve when overproof of the local spectral line that Fig. 3, Fig. 4 cause for resonance or strong external interference. The free degree=248(K=4, N=16) abscissa is for revising number of times, ordinate is oscillation intensity, curve (1) is desirable fair curve, once can revise, curve (2) is the curve after the conventional method multiple averaging, curve (3) is the curve before the conventional method multiple averaging, and curve (4) is for adopting curve of the present invention, as seen from the figure, curve (2), (3) life period lag behind, erection rate is slow, and for a long time excessive overproof existence is arranged, and can very fast round-off error with the present invention, make it reach spectrum estimation accuracy scope, and very stable. This shows, with vibration control equipment of the present invention for the big error in part can revise rapidly, very fast stable, revise the precision height, the number of oscillation is few, experimental safe the present invention has significant practical value and economic benefit.
The embodiments of the invention closed loop feedback system that array apparatus is formed of serving as reasons down, and the vibratory equipment of control system control thus.
Shaking table 1 can be electromagnetic vibration generator system or electro-hydraulic servo hydraulic vibration gen.
A/D converter 2 can be with general 12, the A/D transducer of slewing rate＜25 μ s.
Time domain-frequency domain spectrum transformation device 3
(1) by LSI digital signal chip such as TMS32010 or TMS32020,1024 FFT conversion times are less than 50mS, and speed is fast.
(2), finish 1024 about 300mS of FFT conversion as TRW1010 and software mixing by 16 * 16 hardware multipliers.
(3) finish 1024 FFT conversion by the 16 digit microcomputer software program, need about 1 second.
Exponent-weighted average device 15 is finished (N is variable) by microcomputer software
Comparer 6 is finished by microcomputer software
Phase randomization device 7 produces pseudo-random binary sequence by the hardware shift register logical circuit, as random phase; Also available microcomputer software is finished.
Reference power spectrum storer 8 is finished by the microcomputer memory reservoir
Corrector (multiplier) 9 is finished by 16 hardware multiplications, as TRW1010, also can be finished by the microcomputer software instruction.
Frequency domain-same the hardware of time-domain spectral transducer 10 and 3, just software gets final product with the IFFT program.
Time-domain randomization generator 11
(1) can finish by hardware logic electric circuit shift register, counter and storer etc.
(2) can add storer by the TMS32010 digital signal processing chip and finish time-domain randomization, simpler, quick.
(3) can finish by microcomputer software.
Unusual overproof some part reduces degree of freedom acceleration corrector 13 and can be finished by microcomputer software.
Most preferred embodiment: remove shaking table and A/D, D/A converter with 12, time domain-frequency domain (or frequency domain-time domain) transducer is with outside 16 multipliers of TMS32020 corrector 9 usefulness, and other are finished with microcomputer.
Claims (4)
1, a kind of digital random vibration control equalization methods, the vibration signal that it will be picked up by sensor, through analogue-digital converter, time domain-frequency domain spectrum transformation device conversion and the oscillation power spectrum come equilibrium with new spectral equalization method, it is characterized in that adopting in its spectral equalization the frequency spectrum technique of estimation that does not wait degree of freedom, promptly when the balancing error of a certain spectral line obviously surpasses the estimation accuracy of this spectral line, just reduce the degree of freedom of average computation device, when the balancing error of another certain spectral line during, just improve the degree of freedom of this average computation device near the estimation accuracy of this spectral line.
2, its involving vibrations platform of a kind of digital random vibration control equipment (comprises power amplifier, vibrator, test specimen, sensor) with by analogue-digital converter 2, time domain-frequency domain transform device 3, the linear averaging device, the exponential average device, comparer 6, phase randomization device 7, reference power spectrum storer 8, corrector 9, frequency domain-time-domain spectral transducer 10, time-domain randomization generator 11, spectral equalization update the system two parts that digital-to-analog converter 12 is formed, the linear averaging device 14 that it is characterized in that described spectral equalization update the system, the degree of freedom of exponential average device 15 is variable, they can with comparer 6, reference power spectrum storer 8, but quick corrector 13 has been formed the that repaiies fast of a variable freedom and has been hanged down the field
3, by the described vibration control equipment of claim 2, it is characterized in that the quick update the system in the described spectral equalization update the system, the correction link of a PID regulator or other DDC control algolithms can be arranged behind quick corrector 13.
4, by claim 2,3 described vibration control equipments, it is characterized in that except shaking table, time domain-frequency domain spectrum transformation device 3(frequency domain-time-domain spectral transducer 10) with TMS32020, corrector 9 usefulness hardware multipliers, number-Mo, analogue-digital converter with 12 and programmable amplifier with the high precision, all the other each ingredients are finished by microcomputer entirely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87107034 CN1032863A (en) | 1987-10-23 | 1987-10-23 | Digital random vibration control system (or method) and equipment thereof |
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|---|---|---|---|
| CN 87107034 CN1032863A (en) | 1987-10-23 | 1987-10-23 | Digital random vibration control system (or method) and equipment thereof |
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| CN1032863A true CN1032863A (en) | 1989-05-10 |
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| CN 87107034 Pending CN1032863A (en) | 1987-10-23 | 1987-10-23 | Digital random vibration control system (or method) and equipment thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100465830C (en) * | 2007-02-09 | 2009-03-04 | 上海大学 | Portable vibration controller using USB interface |
| CN103399974A (en) * | 2013-06-24 | 2013-11-20 | 中国电子科技集团公司第十研究所 | Method for quantitatively comparing random vibration simulation data with experimental data |
| CN108716974A (en) * | 2018-06-12 | 2018-10-30 | 太原理工大学 | Vibration amplitude iterative control system based on transmission function |
| CN109062036A (en) * | 2018-06-12 | 2018-12-21 | 太原理工大学 | Vibration harmonics iterative control system based on transmission function |
-
1987
- 1987-10-23 CN CN 87107034 patent/CN1032863A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100465830C (en) * | 2007-02-09 | 2009-03-04 | 上海大学 | Portable vibration controller using USB interface |
| CN103399974A (en) * | 2013-06-24 | 2013-11-20 | 中国电子科技集团公司第十研究所 | Method for quantitatively comparing random vibration simulation data with experimental data |
| CN103399974B (en) * | 2013-06-24 | 2016-04-06 | 中国电子科技集团公司第十研究所 | Quantize the method comparing random vibration emulated data and experimental data |
| CN108716974A (en) * | 2018-06-12 | 2018-10-30 | 太原理工大学 | Vibration amplitude iterative control system based on transmission function |
| CN109062036A (en) * | 2018-06-12 | 2018-12-21 | 太原理工大学 | Vibration harmonics iterative control system based on transmission function |
| CN109062036B (en) * | 2018-06-12 | 2021-05-28 | 太原理工大学 | Vibration harmonic iterative control system based on transfer function |
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