CN103303453B - A kind of active impact-resistant fuzzy being applicable to the complicated vibrating isolation system of engine installation - Google Patents
A kind of active impact-resistant fuzzy being applicable to the complicated vibrating isolation system of engine installation Download PDFInfo
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Abstract
The object of the present invention is to provide a kind of active impact-resistant fuzzy being applicable to the complicated vibrating isolation system of engine installation, comprise the following steps: the acceleration signal gathering power plant pedestal place, judges whether system is impacted: after the size of pedestal acceleration/accel exceeds the threshold value of setting, namely enter Impact active control module; Obfuscation is carried out to the acceleration signal inputted and rate of acceleration change signal, by the result drawn by inquiring about fuzzy control rule table, obtain the fuzzy output value of control signal, sharpening interface is completed by the triangular form subordinate function of control signal, draw impulsive control signal, after power amplifier amplifies, input active vibration absorber, when pedestal accekeration and rate of acceleration change are all less than setting threshold values, then shock response terminates.The present invention makes system have stronger impact resistance, and the reaction time is short, meets the requirement of the instantaneity of impulsive control, and after using the present invention, the shock resistance of complicated vibrating isolation system can be effectively improved.
Description
Technical field
What the present invention relates to is a kind of method of anti-vibrating and impact, and specifically a kind of active anti-vibration moves the method for impact.
Background technology
Engine installation is equipment and the device of kinetic energy other energy conversion, and be industry member " heart ", its safety rate receives much concern.Engine installation is also main vibration noise source, and vibration and noise is degrading the Life and job condition of people, defines pollution; In ship domain, vibrating by hull forming radiation of sound under water, polluting Underwater Acoustic Environment.
Vibration control is study hotspot and the difficult point of field of dynamic engineering always, and main method is vibration isolation, absorbing, weakening, resistance are shaken and change kinetic parameter.Passive Control is the first-selection of vibration control, and it does not need outside energy to input, and has the advantage that cost is low, reliability is high, but low-frequency vibration be often subject to stability restriction and control effects is not good.Therefore ACTIVE CONTROL becomes the effective means of engine installation low-frequency vibration, and its principal character is that the input power contrary with by control effort equal and opposite in direction, direction is offset and vibrated.Vibration active control system has three links: actuator, controller and control algorithm.The pertinent literature delivered both at home and abroad is numerous, works is quite a few, as " Active Vibration Control " of Gu Zhongquan, the C.H. Chinese of Australia is gloomy, S.D. the people such as Snyder " ACTIVE CONTROL of noise and vibration " of showing, Zhu Shijian, " ship machinery vibration control " that what beautiful jade is shown etc., and for example Shanghai Communications University Sun Cheng is suitable waits people to start with to the research of diesel engine ACTIVE CONTROL from Neural Network Control Algorithm, demonstrate feasibility ([1] Sun Chengshun that this algorithm is applied in ACTIVE CONTROL, Bao Jihua, Zhang Jianwu, gold pretty young woman. with the experimental investigation [J] of neural network to diesel vibration ACTIVE CONTROL. Shanghai Communications University's journal, 2003.5).The people such as the Zhang Lei of naval engineering university are based on the constitutive equation of magnetostriction materials, set up the model of active vibration isolation system, and ([2] Zhang Lei is studied to its dynamics and control stability, Liu Yongguang, Fu Yongling, He Lin. based on the active vibration isolation system analysis [J] of magnetostrictive actuator. aviation power journal .2004.19).The intermediate masses proposed on vibration damping basis such as Australia Winberg arrange electromagnetic actuator, the vibration controlling intermediate mass reduces vibration going down ([3] Winberg M, Hansen C, Claesson I.Active Control ofEngine Vibrations in a Collins Class Submar ine [R] .Blekinge Institute ofTechnology Research Report, 2003).Along with the continuous maturation of technology, there is the vibration active control system that can be applied to engineering both at home and abroad, the representational active vibration isolation system developed jointly as MTU company and PAULSTRA/Stop-Choc company, can control the low-frequency vibration on 5-8 rank before diesel engine by actv..
In earthquake and ship environment, the effect that engine installation also will be impacted, as earthquake wave, water shooting noncontact shock wave.Impact can cause engine installation seriously to damage, and the shock resistance of equipment have also been obtained concern in recent years.Recent year carries out in-depth study to shock resistance, Wang Yu, Hua Hongxing, Feng Qi, Yao Xiongliang etc. have delivered a series of paper and works and have set forth the shock calculation of engine installation, test method and shock resistance design, as Wang Yu " ship's fitting anti-shock vibration isolation system Modeling Theory and the application thereof " of showing, " naval vessel modern ram is theoretical and apply " that the grand magnitude people of China writes, Yao Xiongliang " ship structure vibratory impulse and noise " etc.Feng Qi, Shen Rongying etc. are to the vibration isolator Modling model with limiting device, how correctly the double-layer vibration isolating system of the result obtained design band rigid limit to provides some theoretical reference foundations ([4] Feng Qi, Shen Rongying, He Hua. the Stochastic Discrete Model [J] of the double-layer vibration isolating system of band rigid limit. authorship .2006.9).China grand magnitude propose a kind of On A Retrofitted Damper being applied to boats and ships anti-impact, its buffering effect ideal ([5] Du Jianye, Wang Yu, Hua Hongxing. the design of On A Retrofitted Damper and experimental investigation [J]. vibration and impact, 2008.2).Wang Yu etc. propose a kind of anti-impact watt model, through example its can to impact play preferably buffer action ([6] Wang Yu, Hua Hongxing, Chen Yong, Du Jianye. naval vessels anti-impact watt overall impact isolating new ideas and study mechanism [J] thereof. scientific and technological Leader, 2009.3).These all belong to impact Passive Control category.
In recent years, start the ACTIVE CONTROL of paying attention to impacting abroad, compared with Active Vibration Control, its difficult point is that working time of collision is short, be difficult to prediction, require the actuator of ACTIVE CONTROL, controller has the responding ability be exceedingly fast, algorithm has very strong robustness just can adjust the contrary impulsive force in equal and opposite in direction, direction.The development of Impact active control is more late than Active Vibration Control starting, difficulty large, and document is few.It is initiatively the main stream approach of Impact active control every punching, University of Southampton Ledezma Ramirez([7] Ledezma Ramirez, Ferguson, Brennan.An experimental switchable stiffness device for shock isolation [J] .Journal of Sound and Vibration, etc. November2012) have studied a kind of strategy utilizing semi-active vibration-isolating device to carry out impulsive control, application one has height, the nonlinear isolation device of low two kinds of rigidity states, impact process is divided within shock duration and controls respectively with impact remnants these two stages of response.Initiatively every punching, there is the direct feature of effect, but its design and installation need to change original vibrating isolation system, bring the difficulty that quantities is large, control algorithm is complicated.
Contriver obtained two invention patent mandates in 2008.[8] (ZL200710072395.6, the vibration shock isolation semi-automatic control device based on electromagnetic type bump leveller), [9] (ZL200710072396.0 improves the device and method of the shock resistance of double-layer vibration isolating system).The central idea of these two patents is, adopts electromagnetic type semi active vibration absorber, and when controlling vibration, the frequency of electromagnetic type semi active vibration absorber is consistent with the frequency of disturbing power outside vibration, plays absorbing effect; When impact comes interim, the frequency of electromagnetic type semi active vibration absorber is adjusted to rapidly the natural frequency of system, absorbs the impact energy from ground.The advantage of this type systematic is that control method is simple, can realize opened loop control; Bump leveller does not need to change vibrating isolation system, and easy for installation, work capacity is little.Its essence is the passive bump leveller of tunable natural frequency, do not need initiatively to send power, but there is following limitation: vibration can only control single-frequency, and can only absorb single-frequency energy during impulsive control, effect is limited.
Summary of the invention
The object of the present invention is to provide the integrated ACTIVE CONTROL achieving vibration and impact, effectively improve a kind of active impact-resistant fuzzy being applicable to the complicated vibrating isolation system of engine installation of the Combination property of vibrating isolation system.
The object of the present invention is achieved like this:
A kind of active impact-resistant fuzzy being applicable to the complicated vibrating isolation system of engine installation of the present invention, is characterized in that:
(1) electromagnetic type active vibration absorber is installed on the power plant in complicated vibrating isolation system, the acceleration signal that sensor gathers power plant pedestal place is rushed with picking up, undertaken gathering by data collecting card and input in computing machine, judging whether system is impacted: after the size of pedestal acceleration/accel exceeds the threshold value of setting, namely entering Impact active control module;
(2) after entering Impact active control module, triangular form subordinate function is adopted to carry out obfuscation to the acceleration signal of input and rate of acceleration change signal, by the result drawn by inquiring about fuzzy control rule table, obtain the fuzzy output value of control signal, according to maximum membership degree method, complete sharpening interface by the triangular form subordinate function of control signal, draw impulsive control signal, active vibration absorber is inputted after power amplifier amplifies
Fuzzy control rule table
In table, the linguistic variable domain of acceleration/accel, rate of acceleration change and output signal is divided into seven grades, respectively: positive dirction large numerical value PB, positive dirction middle value PM, positive dirction fractional value PS, zero ZO, the large numerical value of N B of negative direction, negative direction middle value NM, negative direction fractional value NS, the subordinate function of each Linguistic Value is triangular form subordinate function;
(3) when pedestal accekeration and rate of acceleration change are all less than setting threshold values, then shock response terminates; If shock response terminates, jump out impulsive control circulation, active vibration absorber returns to vibration control pattern, waits for and impacting next time.
Advantage of the present invention is:
First, the present invention can use the data acquisition control card based on virtual instrument, there is very strong commonality, its arithmetic speed makes the present invention can detect the working environment of vibrating isolation system in time, capture impact signal, making system can start control system rapidly when being subject to impacting, playing the effect of anti-impact.Secondly, the instantaneous acceleration that complicated vibrating isolation system is subject to impacting rear generation is offseted by the application force of bump leveller.The shock response of ship power equipment effectively reduces, and the peak-to-peak value of maximum impact dynamic respond is reduced, can actv. protection ship power equipment and the safety of other equipment under the state of being hit.Again, the wide frequency range of the shock response that the present invention controls, the effect of control is greatly improved, and is applicable to different vibrating isolation systems.
In sum, the present invention makes system have stronger impact resistance, and the reaction time is short, meets the requirement of the instantaneity of impulsive control, and after using the present invention, the shock resistance of complicated vibrating isolation system can be effectively improved.
Accompanying drawing explanation
Fig. 1 is the shock proof apparatus structure schematic diagram of active that the present invention relates to;
Fig. 2 is schematic diagram of the present invention;
Fig. 3 is the triangular form subordinate function figure that the present invention adopts;
Fig. 4 is diagram of circuit of the present invention;
Fig. 5 is that the present invention improves design sketch for the shock resistance of buoyant raft shock-resistant system.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 5, device involved in the present invention mainly contains: electromagnetic type active vibration absorber, power amplifier, data acquisition control card, and computing machine, picks up and rush acceleration pick-up, charge amplifier, the compositions such as eddy current displacement sensor.
Its method for arranging is: data acquisition control card and microcomputer communicate, formation control device; And its signal output part is after power amplifier, connect with electromagnetic type bump leveller.Bump leveller is arranged on protected equipment, will picks up and rush acceleration pick-up, eddy current displacement sensor; be arranged in equipment base place; pick up and rush after acceleration pick-up connects with charge amplifier, be linked into data acquisition control card data acquisition end, displacement pickup access data Acquisition Instrument.
Active impact-resistant fuzzy provided by the invention is:
1) electromagnetic type active vibration absorber is installed on the power plant in complicated vibrating isolation system, utilize active vibration absorber to produce anti-impact forces and offset shock response, the Impact active control signal of active vibration absorber is exported by the D/A module of computer-controlled data acquisition control card.
2) with picking up the acceleration signal rushing sensor collecting device pedestal place, undertaken gathering by data collecting card and input in computing machine, judge whether system is impacted by control program, Impact active control module can be entered after the size of pedestal acceleration/accel exceeds the threshold value of setting.
3) after entering Impact active control module, the fuzzy control program of establishment adopts triangular form subordinate function to carry out obfuscation to the acceleration signal of input and rate of acceleration change signal, by the result queries rule list 1 drawn, obtain the fuzzy output value of control signal.According to maximum membership degree method, complete sharpening interface by the triangular form subordinate function of control signal, draw impulsive control signal, after power amplifier amplifies, input active vibration absorber.
Table 1 fuzzy control rule table
Acceleration/accel in table, the linguistic variable domain of rate of acceleration change and output signal is divided into seven grades, respectively: { " the large numerical value of positive dirction (PB) ", " positive dirction middle value (PM) ", " positive dirction fractional value (PS) ", " zero (ZO) ", " the large numerical value of negative direction (NB) ", " negative direction middle value (NM) ", " negative direction fractional value (NS) " }.The subordinate function defining each Linguistic Value is triangular form subordinate function.
4) think that shock response terminates when base acceleration value and rate of acceleration change are all less than setting threshold values.If shock response terminates, control system jumps out impulsive control circulation, and bump leveller returns to vibration control pattern, waits for and impacting next time.
The experimental verification of shock resistance effect of the present invention:
Tested by a series of Impact active control, demonstrate control effects of the present invention, the control result drawn as shown in Figure 5.
Accompanying drawing 5 is comparison diagrams of the displacement signal of the power plant controlling front and back.From figure, command displacement contrast can show that the peak-to-peak value controlling rear equipment displacement is 0.127mm, unsteered displacement peak-to-peak value 0.215mm, decreases 40.9%, and first peak value of impact reduces 31.7%, first valley reduces 49.2%, and control effects is comparatively obvious.Therefore can reach a conclusion: the present invention can suppress the response impacted by actv., and then plays and ensure device security and the normal effect run.
With the complicated vibrating isolation system of engine installation initiatively absorbing control unlike, the present invention has carried out expansion and the improvement of control objectives, control objectives parameter, detected parameters and control algorithm on the basis of Active Vibration Control.Its outstanding feature is: in above-mentioned electromagnetic type initiatively absorbing control system, the upper strata quality the representing engine installation displacement produced that is hit can cause the annex stress such as coupled pipeline, axle system excessive and lose efficacy, in power engineering and field of ship engineering, often needing to control this displacement is control objectives, the displacement that the present invention also adopts upper strata quality is target, and makes it minimum as control objectives parameter this shift value; Increase the impact signal of detection from Equipment Foundations as the judgement signal entering Impact active control, and implement the ACTIVE CONTROL of impact.When basis is subject to impacting, electromagnetic type bump leveller sends initiatively impulsive force and offsets the impulsive force of equipment, makes the displacement of the upper strata quality representing engine installation minimum, reaches the object of proterctive equipment.
Compared with Active Vibration Control, difference of the present invention has: Active Vibration Control requires that system carries out continuation control, and control system has lasting, stable feature; Impact active control is transient control, requires control system to respond fast.Active Vibration Control often reduces the energy that continues by upper strata mass flow to basis, and its evaluating controlled biases toward the Acceleration Level of intermediate mass; Impact active control object be reduce basic transient state energy flow to upper strata quality, its main objective reduces by impacting the displacement that causes.
Compared with half initiatively impulsive control, difference of the present invention has: half active impulsive control system does not send active force, and initiatively impulsive control system sends active force; Half active impulsive control system can only control single-frequency, and initiatively impulsive control system can control multifrequency; Half active impulsive control system can adopt opened loop control, and control algorithm is simple, and initiatively impulsive control system needs to adopt closed loop control, and control algorithm is complicated; Half active impulsive control Systematical control effect is limited, and initiatively impulsive control Systematical control effect can larger improve.
By reference to the accompanying drawings 1, as the ship power equipment 2 of protected upper strata quality, buoyant raft 4, elastic suspension 3,5 buoyant raft shock-resistant system formed are installed on hull basis 6; Electromagnetic type active vibration absorber 1, picks up and rushes acceleration pick-up 7, eddy current displacement sensor 8, computing machine 13, data acquisition control card 12, charge amplifier 9, and power amplifier 11 etc. constitutes initiatively shock resistance system; Protected power plant 2 is provided with electromagnetic type active vibration absorber 1.Pedestal place is provided with ten and rushes sensor 7, for detecting impact signal, in input data acquisition control card 12.
After hull basis 6 receives impact, vibrating isolation system produces shock response, is passed to power plant 2 place by buoyant raft 4 and elastic suspension 3,5 etc.Rush accelerometer 7 gather acceleration signal by picking up, after charge amplifier 9, undertaken gathering by data acquisition control card 12 and sent in computing machine 13, by the Virtual Controller software of establishment in computing machine 13, carry out obfuscation and complete fuzzy reasoning, after rule searching table, de-fuzzy, then the control signal exported by it, after power amplifier 11, input active vibration absorber 1, makes it produce the control effort contrary with shock response acceleration/accel direction, thus suppresses to impact.Meanwhile, utilize Data Signal Collecting Device 10 to gather the signal of current vortex displacement meter 8, it is detected, play valuator device and to be hit the effect of influence degree.
Claims (1)
1. be applicable to an active impact-resistant fuzzy for the complicated vibrating isolation system of engine installation, it is characterized in that:
(1) electromagnetic type active vibration absorber is installed on the power plant in complicated vibrating isolation system, the acceleration signal that sensor gathers power plant pedestal place is rushed with picking up, gathered by data collecting card, and input in computing machine by the acceleration signal collected with by the rate of acceleration change signal calculated, judge whether system is impacted: after the size of pedestal acceleration/accel exceeds the threshold value of setting, namely enter Impact active control module;
(2) after entering Impact active control module, triangular form subordinate function is adopted to carry out obfuscation to the acceleration signal of input and rate of acceleration change signal, by the result drawn by inquiring about fuzzy control rule table, obtain the fuzzy output value of control signal, according to maximum membership degree method, complete sharpening interface by the triangular form subordinate function of control signal, draw impulsive control signal, active vibration absorber is inputted after power amplifier amplifies
Fuzzy control rule table
In table, the linguistic variable domain of acceleration/accel, rate of acceleration change and output signal is divided into seven grades, respectively: positive dirction large numerical value PB, positive dirction middle value PM, positive dirction fractional value PS, zero ZO, the large numerical value of N B of negative direction, negative direction middle value NM, negative direction fractional value NS, the subordinate function of each Linguistic Value is triangular form subordinate function;
(3) when pedestal accekeration and rate of acceleration change are all less than setting threshold, then shock response terminates; If shock response terminates, jump out impulsive control circulation, active vibration absorber returns to vibration control pattern, waits for and impacting next time.
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| US5291975A (en) * | 1992-10-27 | 1994-03-08 | Satcon Technology Corporation | System and method for damping narrow band axial vibrations of a rotating device |
| FR2777534B1 (en) * | 1998-04-16 | 2000-06-23 | Cegelec Sa | DEVICE FOR REDUCING VIBRATION ON A BOAT |
| CN100497086C (en) * | 2007-06-25 | 2009-06-10 | 哈尔滨工程大学 | Semi-active impact-resisting and bumping controller based electromagnetic vibration absorber |
| CN100569586C (en) * | 2007-06-25 | 2009-12-16 | 哈尔滨工程大学 | Improve the method for the shock resistance of double-layer vibration isolating system |
| CN101311070B (en) * | 2008-06-19 | 2011-05-04 | 江苏南极机械有限责任公司 | Modularized shock resistant vibration isolation raft for ship basic propulsion system |
| CN102072276B (en) * | 2010-12-30 | 2012-10-31 | 上海交通大学 | Electromagnetic active control device for longitudinal vibration of marine shafting |
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