CN104615126B - A kind of frequency response characteristic test system and method based on control system - Google Patents
A kind of frequency response characteristic test system and method based on control system Download PDFInfo
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- G05B23/00—Testing or monitoring of control systems or parts thereof
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Abstract
The present invention relates to a kind of frequency response characteristic test system and method based on control system, the system includes：Module occurs for object model, feedback channel, pumping signal, and Virtual Controller, subtracter, controller, frequency response characteristic computing module, the subtracter also includes the first subtracter and the second subtracter；First subtracter, Virtual Controller, the second subtracter and object model are sequentially connected and connect, the controller, which is connected to the pumping signal, to be occurred between module and frequency response characteristic computing module, the pumping signal occurs module and is connected with the controller and the second subtracter, and the feedback channel is connected between the object model and the first subtracter；Beneficial effect of the present invention：Realize disposable simultaneously test control system open-loop frequency response characteristic and control system each several part frequency response characteristic, convenient test, and ensure in test process the stability of system and reduce influence.
Description
Technical field
The present invention relates to automation field, more specifically to a kind of frequency response characteristic based on control system
Test system and method.
Background technology
The parameter adjustment of servo-control system generally requires to take into account the rapidity of system and stability, but actually but very
Rare instrument detects the rapidity and stability of servo-control system.Frequency response method is the core in classical control theory
Analysis method, system shearing frequency, stability, stability margin, resonance can be obtained from control system open-loop frequency response characteristic
The important informations such as frequency, these important informations characterize the rapidity and stability of control system.Classical control theory is also provided
A series of theoretical foundations being corrected according to control system open-loop frequency response characteristic to system, understand control system each son
The frequency response characteristic of module is most important for system compensation.
At present, be the closed loop frequency response characteristic that obtains servo-control system, generally using frequency-characteristic measuring-testing instrument or
System closed loop frequency response characteristic is approximately measured by way of sine wave Frequency sweep experiments.However, in frequency of use characteristic test
, it is necessary to which interface is supported when instrument is tested, and it can only typically measure the closed loop frequency response characteristic of control system；Sine wave frequency sweep
Experiment method then takes time and effort, inefficiency, and can only measure system closed loop frequency response characteristic.
As shown in figure 1, being the schematic diagram of existing typical closed loop control system, it can be divided into three submodules：Control
Device, object model, feedback channel.The structured flowchart of its typical closed-loop control system is as shown in Fig. 2 wherein, C (s) represents control
The transmission function of device processed, G (s) represents the transmission function of object model, and H (s) represents the transmission function of feedback channel.Accordingly, C
(j ω) represents the frequency response characteristic of controller, and G (j ω) represents the frequency response characteristic of object model, and H (j ω) represents feedback
The frequency response characteristic of passage.For above-mentioned typical closed loop control system, its open-loop transfer function is represented by CGH (s), accordingly
, its open-loop frequency response characteristic can be expressed as CGH (j ω).
Frequency response characteristic is made up of amplitude versus frequency characte and phase-frequency characteristic, corresponding to above-mentioned typical control system, frequency response
Characteristic can be expressed as：
Wherein, AC(ω) represents controller amplitude versus frequency characte,Represent controller phase-frequency characteristic, AG(ω) represents object
Model amplitude versus frequency characte,Represent object model phase-frequency characteristic, AH(ω) represents feedback channel amplitude versus frequency characte,Represent
Feedback channel phase-frequency characteristic, ACGH(ω) represents system open loop amplitude versus frequency characte,Represent system open loop phase-frequency characteristic.
The content of the invention
The technical problems to be solved by the invention are, need interface to support for the test of existing frequency response characteristic, time-consuming
Arduously, and the problem of open-loop frequency response characteristic can not be obtained tested there is provided a kind of frequency response characteristic based on control system
System and method.
The present invention solves above-mentioned technical problem, and there is provided the technical scheme solved as follows：A kind of frequency based on control system
Response characteristic test system, including the first subtracter, object model, feedback channel, the system also include Virtual Controller, excitation
Signal generating module, the second subtracter, controller and frequency response characteristic computing module, wherein：
Module occurs for the pumping signal, for exporting the first pumping signal to the second subtracter, while defeated to controller
Go out the second pumping signal；
The Virtual Controller, life is combined for the error signal that is exported according to the first subtracter with Virtual Controller parameter
The second subtracter is output into the first control signal and by first control signal；
Second subtracter, for generating the second control signal according to the first pumping signal and the first control signal and passing
It is defeated by object model；
The controller, for generating the 3rd control signal according to the second pumping signal and controller parameter, and by the 3rd
Control signal is output to frequency response characteristic computing module；
The frequency response characteristic computing module, for according to the second pumping signal, the 3rd control signal, feedback channel
Feedback signal, the second control signal of the second subtracter and the output signal of object model, calculate control system each respectively
Component frequency response characteristic and control system open-loop frequency response characteristic.
In the frequency response characteristic test system based on control system of the present invention, the frequency response characteristic calculates mould
Block includes：
Signal sampling module, for gathering the second pumping signal, the 3rd control signal, feedback signal, the second control signal
And output signal；
Control system each several part frequency response characteristic computing module, for the second pumping signal according to collection, the 3rd control
Signal processed, feedback signal, the second control signal and output signal calculate the controller frequency response for obtaining the control system
Characteristic, object model frequency response characteristic, feedback channel frequency response characteristic；
Control system open-loop frequency response property calculation module, for according to the controller frequency response characteristic, object
Model frequency response characteristic, feedback channel frequency response characteristic, which are calculated, obtains control system open-loop frequency response characteristic.
In the frequency response characteristic test system based on control system of the present invention, first pumping signal is amplitude
The sinusoidal signal that adjustable, frequency is changed over time, and first pumping signal initial frequency and terminate frequency according to described right
As the frequency range setting for the measured signal that model is provided.
In the frequency response characteristic test system based on control system of the present invention, second pumping signal is by N
The periodic sequence signal that level linear feedback shift register is produced, and the rate-adaptive pacemaker scope of second pumping signal passes through shifting
The value adjustment of bit clock and feedback series N；The N is positive integer.
In the frequency response characteristic test system based on control system of the present invention, the controller frequency response characteristic
Calculated by following calculating formula：
Wherein, above-mentioned C (j ω) represents controller frequency response characteristic, AC(ω) represents controller amplitude versus frequency characte,
Controller phase-frequency characteristic is represented, B (j ω) is the second pumping signal B discrete adding window Fourier transformation, and D (j ω) is output signal
D discrete adding window Fourier transformation；| | plural modulo operation is represented, arg represents that plural number takes argument computing；
The object model frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned G (j ω) represents object model frequency response characteristic, AG(ω) represents object model amplitude versus frequency characte,Object model phase-frequency characteristic is represented, E (j ω) is the second control signal E discrete adding window Fourier transformation, and Y (j ω) is
Output signal Y discrete adding window Fourier transformation；
The feedback channel frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned H (j ω) represents feedback channel frequency response characteristic, AH(ω) represents feedback channel amplitude versus frequency characte,Feedback channel phase-frequency characteristic is represented, Y (j ω) is output signal Y discrete adding window Fourier transformation, and F (j ω) is feedback
Signal F discrete adding window Fourier transformation.
In the frequency response characteristic test system based on control system of the present invention, the control system open loop frequency is rung
Characteristic is answered by controller frequency response characteristic C (j ω), object model frequency response characteristic G (j ω), feedback channel frequency response
Characteristic H (j ω) is calculated by following calculating formula and obtained：
CGH (j ω)=C (j ω) * G (j ω) * H (j ω), ACGH(ω)=AC(ω)*AG(ω)*AH(ω),
Wherein, above-mentioned CGH (j ω) is expressed as control system open-loop frequency response characteristic, ACGH(ω) represents system open loop width
Frequency characteristic,Represent system open loop phase-frequency characteristic.
In the frequency response characteristic test system based on control system of the present invention, the Virtual Controller adoption rate
Controller, and reduce influence of the test system in test process to control system by adjusting proportionality coefficient.
The present invention also provides a kind of frequency response characteristic method of testing based on control system, comprises the following steps：
S1, the first subtracter produce error signal according to input signal, and the input signal is constant and feedback signal；
The error signal is converted to the first control signal and exported by S2, Virtual Controller；
The first pumping signal that according to first control signal and pumping signal module occurs for S3, the second subtracter is generated
Second control signal, meanwhile, according to pumping signal the second pumping signal of module and controller parameter generation the occur for controller
Three control signals；
Second control signal described in S4, the second control signal output signal acts on object model and obtains output signal；
S5, the output signal switch to feedback signal via feedback channel, and the feedback signal is input into the first subtraction
Among device, closed-loop control system is formed；
S6, according to the second control signal of the control system, output signal, the 3rd control signal, the second pumping signal
And feedback signal, calculate the control system each several part frequency response characteristic and control system open-loop frequency response characteristic.
In the frequency response characteristic method of testing based on control system of the present invention, the control system each several part frequency
Response characteristic includes controller frequency response characteristic, object model frequency response characteristic, the feedback channel frequency of the control system
Rate response characteristic；
The controller frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned C (j ω) represents controller frequency response characteristic, AC(ω) represents controller amplitude versus frequency characte,
Controller phase-frequency characteristic is represented, B (j ω) is the second pumping signal B discrete adding window Fourier transformation, and D (j ω) is output signal
D discrete adding window Fourier transformation；| | plural modulo operation is represented, arg represents that plural number takes argument computing；
The object model frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned G (j ω) represents object model frequency response characteristic, AG(ω) represents object model amplitude versus frequency characte,Object model phase-frequency characteristic is represented, E (j ω) is the second control signal E discrete adding window Fourier transformation, and Y (j ω) is
Output signal Y discrete adding window Fourier transformation；
The feedback channel frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned H (j ω) represents feedback channel frequency response characteristic, AH(ω) represents feedback channel amplitude versus frequency characte,Feedback channel phase-frequency characteristic is represented, Y (j ω) is output signal Y discrete adding window Fourier transformation, and F (j ω) is feedback
Signal F discrete adding window Fourier transformation；
The control system open-loop frequency response characteristic rings controller frequency response characteristic C (j ω), object model frequency
Characteristic G (j ω), feedback channel frequency response characteristic H (j ω) is answered to calculate and obtain by following calculating formula：CGH (j ω)=C (j
ω) * G (j ω) * H (j ω), ACGH(ω)=AC(ω)*AG(ω)*AH(ω),
Wherein, above-mentioned CGH (j ω) is expressed as control system open-loop frequency response characteristic, ACGH(ω) represents system open loop width
Frequency characteristic,Represent system open loop phase-frequency characteristic.
In the frequency response characteristic method of testing based on control system of the present invention, first pumping signal is amplitude
The sinusoidal signal that adjustable, frequency is changed over time, and first pumping signal initial frequency and terminate frequency according to described right
As the frequency range setting for the measured signal that model is provided；
Second pumping signal be by the periodic sequence signal of N grade linear feedback shift registers generation, and this
The rate-adaptive pacemaker scope of two pumping signals is adjusted by the value of shift clock and feedback series N；The N is positive integer.
Implement the frequency response characteristic test system and method based on control system of the present invention, with following beneficial effect
Really：Realize disposable simultaneously test and obtain control system open-loop frequency response characteristic and control system each several part frequency response
The frequency response characteristic of characteristic, especially controller, perfect reference frame is provided for the correction of control system；Its internal collection
Into the excitation instruction required for test, test process does not need extra instrument to participate in, convenient test；It is internal in the system to collect
Into Virtual Controller, the stability of test process system is ensure that, impact of the test process to control system can be reduced.
Brief description of the drawings
Fig. 1 is the schematic diagram of the typical closed-loop control system of prior art；
Fig. 2 is the structured flowchart of the typical closed-loop control system of prior art；
Fig. 3 is the schematic flow sheet of the embodiment of the frequency response characteristic method of testing based on control system of the present invention；
Fig. 4 is the structure chart of the embodiment of the frequency response characteristic test system based on control system of the present invention；
Fig. 5 is the frequency response characteristic of the embodiment of the frequency response characteristic test system based on control system of the present invention
The structured flowchart of computing module；
Fig. 6 is the first pumping signal of the embodiment of the frequency response characteristic test system based on control system of the present invention
Oscillogram；
Fig. 7 is the second pumping signal of the embodiment of the frequency response characteristic test system based on control system of the present invention
Oscillogram；
Fig. 8 encourages for the generation second of the embodiment of the frequency response characteristic test system based on control system of the present invention
The schematic diagram of signal.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
As shown in figure 3, the flow of the embodiment of the frequency response characteristic method of testing based on control system of the present invention is shown
It is intended to, this method includes：
S1, the first subtracter produce error signal according to input signal, and the input signal is constant and feedback signal；
The error signal is converted to the first control signal and exported by S2, Virtual Controller；
The first pumping signal that according to first control signal and pumping signal module occurs for S3, the second subtracter is generated
Second control signal, meanwhile, according to pumping signal the second pumping signal of module and controller parameter generation the occur for controller
Three control signals；
Second control signal described in S4, the second control signal output signal acts on object model and obtains output signal；
S5, the output signal switch to feedback signal via feedback channel, and the feedback signal is input into the first subtraction
Among device, closed-loop control system is formed；
S6, according to the second control signal of the control system, output signal, the 3rd control signal, the second pumping signal
And feedback signal, calculate the control system each several part frequency response characteristic and control system open-loop frequency response characteristic.
In the frequency response characteristic method of testing based on control system of the present invention, the control system each several part frequency
Response characteristic includes controller frequency response characteristic, object model frequency response characteristic, the feedback channel frequency of the control system
Rate response characteristic；
The controller frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned C (j ω) represents controller frequency response characteristic, AC(ω) represents controller amplitude versus frequency characte,
Controller phase-frequency characteristic is represented, B (j ω) is the second pumping signal B discrete adding window Fourier transformation, and D (j ω) is output signal
D discrete adding window Fourier transformation；| | plural modulo operation is represented, arg represents that plural number takes argument computing；
The object model frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned G (j ω) represents object model frequency response characteristic, AG(ω) represents object model amplitude versus frequency characte,Object model phase-frequency characteristic is represented, E (j ω) is the second control signal E discrete adding window Fourier transformation, and Y (j ω) is
Output signal Y discrete adding window Fourier transformation；
The feedback channel frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned H (j ω) represents feedback channel frequency response characteristic, AH(ω) represents feedback channel amplitude versus frequency characte,Feedback channel phase-frequency characteristic is represented, Y (j ω) is output signal Y discrete adding window Fourier transformation, and F (j ω) is feedback
Signal F discrete adding window Fourier transformation.
The control system open-loop frequency response characteristic rings controller frequency response characteristic C (j ω), object model frequency
Characteristic G (j ω), feedback channel frequency response characteristic H (j ω) is answered to calculate and obtain by following calculating formula：CGH (j ω)=C (j
ω) * G (j ω) * H (j ω), ACGH(ω)=AC(ω)*AG(ω)*AH(ω),
Wherein, above-mentioned CGH (j ω) is expressed as control system open-loop frequency response characteristic, ACGH(ω) represents system open loop width
Frequency characteristic,Represent system open loop phase-frequency characteristic.
In the frequency response characteristic method of testing based on control system of the present invention, first pumping signal is amplitude
The sinusoidal signal that adjustable, frequency is changed over time, and first pumping signal initial frequency and terminate frequency according to described right
As the frequency range setting for the measured signal that model is provided；
Second pumping signal be by the periodic sequence signal of N grade linear feedback shift registers generation, and this
The rate-adaptive pacemaker scope of two pumping signals is adjusted by the value of shift clock and feedback series N；The N is positive integer.
The frequency response characteristic method of testing based on control system of the present invention, realizes each several part frequency to control system
Rate response characteristic has carried out detection simultaneously, improves testing efficiency.
As shown in figure 4, the structure chart of the embodiment of the frequency response characteristic test system based on control system of the present invention；
The system includes：
A kind of frequency response characteristic test system based on control system, including the first subtracter, object model, feedback are logical
Road, the system also includes Virtual Controller, pumping signal and occurs module, the second subtracter, controller and frequency response characteristic
Computing module, wherein：
Module occurs for the pumping signal, for exporting the first pumping signal to the second subtracter, while defeated to controller
Go out the second pumping signal；
The Virtual Controller, life is combined for the error signal that is exported according to the first subtracter with Virtual Controller parameter
The second subtracter is output into the first control signal and by first control signal；
Second subtracter, for generating the second control signal according to the first pumping signal and the first control signal and passing
It is defeated by object model；
The controller, for generating the 3rd control signal according to the second pumping signal and controller parameter, and by the 3rd
Control signal is output to frequency response characteristic computing module；
The frequency response characteristic computing module, for according to the second pumping signal, the 3rd control signal, feedback channel
Feedback signal, the second control signal of the second subtracter and the output signal of object model, calculate the control system respectively
Each several part frequency response characteristic of uniting and the control system open-loop frequency response characteristic.
In the frequency response characteristic test system based on control system of the present invention, first pumping signal is amplitude
The sinusoidal signal that adjustable, frequency is changed over time, and first pumping signal initial frequency and terminate frequency according to described right
As the frequency range setting for the measured signal that model is provided.
In the frequency response characteristic test system based on control system of the present invention, second pumping signal is by N
The periodic sequence signal that level linear feedback shift register is produced, and the rate-adaptive pacemaker scope of second pumping signal passes through shifting
The value adjustment of bit clock and feedback series N；The N is positive integer.
In the frequency response characteristic test system based on control system of the present invention, the Virtual Controller adoption rate
Controller, and reduce influence of the test system in test process to control system by adjusting proportionality coefficient.
The beneficial effect of the frequency response characteristic test system based on control system of the present invention, realizes system disposable
The each several part frequency response characteristic of the open-loop frequency response characteristic of test control system and the system, is the school of control system simultaneously
Perfect reference frame is just provided, passes through Virtual Controller, it is ensured that stability of the control system in test process, is improved
Test system practicality.
As shown in figure 5, the frequency of the embodiment of the frequency response characteristic test system based on control system of the present invention is rung
The structured flowchart of property calculation module is answered, the frequency response characteristic computing module also includes：
Signal sampling module, for gathering the second pumping signal, the 3rd control signal, feedback signal, the second control signal
And output signal；
Control system each several part frequency response characteristic computing module, for the second pumping signal according to collection, the 3rd control
Signal processed, feedback signal, the second control signal and output signal calculate the controller frequency response for obtaining the control system
Characteristic, object model frequency response characteristic, feedback channel frequency response characteristic；
Control system open-loop frequency response property calculation module, for according to the controller frequency response characteristic, object
Model frequency response characteristic, feedback channel frequency response characteristic, which are calculated, obtains control system open-loop frequency response characteristic.
In the frequency response characteristic test system based on control system of the present invention, the controller frequency response characteristic
Calculated by following calculating formula：
Wherein, above-mentioned C (j ω) represents controller frequency response characteristic, AC(ω) represents controller amplitude versus frequency characte,
Controller phase-frequency characteristic is represented, B (j ω) is the second pumping signal B discrete adding window Fourier transformation, and D (j ω) is output signal
D discrete adding window Fourier transformation；| | plural modulo operation is represented, arg represents that plural number takes argument computing；
The object model frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned G (j ω) represents object model frequency response characteristic, AG(ω) represents object model amplitude versus frequency characte,Object model phase-frequency characteristic is represented, E (j ω) is the second control signal E discrete adding window Fourier transformation, and Y (j ω) is
Output signal Y discrete adding window Fourier transformation；
The feedback channel frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned H (j ω) represents feedback channel frequency response characteristic, AH(ω) represents feedback channel amplitude versus frequency characte,Feedback channel phase-frequency characteristic is represented, Y (j ω) is output signal Y discrete adding window Fourier transformation, and F (j ω) is feedback
Signal F discrete adding window Fourier transformation.
The control system open-loop frequency response characteristic is rung by controller frequency response characteristic C (j ω), object model frequency
Characteristic G (j ω), feedback channel frequency response characteristic H (j ω) is answered to calculate and obtain by following calculating formula：CGH (j ω)=C (j
ω) * G (j ω) * H (j ω), ACGH(ω)=AC(ω)*AG(ω)*AH(ω),
Wherein, above-mentioned CGH (j ω) is expressed as control system open-loop frequency response characteristic, ACGH(ω) represents system open loop width
Frequency characteristic,Represent system open loop phase-frequency characteristic.
Above-mentioned discrete adding window Fourier transformation is calculated using the decimation in time method of base 2 and obtained.
As shown in fig. 6, the first of the embodiment of the frequency response characteristic test system based on control system of the present invention swashs
Encourage the oscillogram of signal, the first pumping signal is the sinusoidal signal that amplitude is adjustable, frequency is changed over time, and the first excitation letter
Number initial frequency and terminate the frequency range of measured signal that frequency provides according to the object model and set.
As shown in fig. 7, the second of the embodiment of the frequency response characteristic test system based on control system of the present invention swashs
Encourage the oscillogram of signal；Second pumping signal can adjust rate-adaptive pacemaker scope.
As shown in figure 8, the generation the of the embodiment of the frequency response characteristic test system based on control system of the present invention
The schematic diagram of two pumping signals, second pumping signal is the periodic sequence produced by N grades of linear feedback shift registers
Signal, and the rate-adaptive pacemaker scope of second pumping signal passes through shift clock and feedback series N value adjustment.
Compared with prior art, the advantage of frequency response characteristic test system and method for the invention based on control system
It is, realizes disposable simultaneously test and obtain control system open-loop frequency response characteristic and control system each several part frequency sound
The frequency response characteristic of characteristic, especially controller is answered, perfect reference frame is provided for the correction of control system；Inside it
The excitation instruction required for test is integrated with, test process does not need extra instrument to participate in, convenient test；It is internal in the system
Virtual Controller is integrated with, the stability of test process system is ensure that, test process can be reduced control system is rushed
Hit.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure transformation that bright specification and accompanying drawing content are made, or other related technical fields are directly or indirectly used in,
Similarly it is included within the scope of the present invention.
Claims (10)
1. a kind of frequency response characteristic test system based on control system, including the first subtracter, object model, feedback are logical
Road, it is characterised in that the system also includes Virtual Controller, pumping signal and occurs module, the second subtracter, controller and frequency
Rate response characteristic computing module, wherein：
Module occurs for the pumping signal, for exporting the first pumping signal to the second subtracter, while to controller output the
Two pumping signals；
The Virtual Controller, error signal and Virtual Controller parameter generation first for being exported according to the first subtracter are controlled
First control signal is simultaneously output to the second subtracter by signal processed；
Second subtracter, for generating the second control signal according to the first pumping signal and the first control signal and being transferred to
Object model；
The controller, for generating the 3rd control signal according to the second pumping signal and controller parameter, and the 3rd is controlled
Signal output is to frequency response characteristic computing module；
The frequency response characteristic computing module, for according to the second pumping signal, the 3rd control signal, the feedback of feedback channel
The second control signal and the output signal of object model of signal, the second subtracter, calculate control system each several part respectively
Frequency response characteristic and control system open-loop frequency response characteristic.
2. the frequency response characteristic test system according to claim 1 based on control system, it is characterised in that the frequency
Rate response characteristic computing module includes：
Signal sampling module, for gather the second pumping signal, the 3rd control signal, feedback signal, the second control signal and
Output signal；
Control system each several part frequency response characteristic computing module, for the second pumping signal according to collection, the 3rd control letter
Number, feedback signal, the second control signal and output signal calculate obtain the control system controller frequency response characteristic,
Object model frequency response characteristic, feedback channel frequency response characteristic；
Control system open-loop frequency response property calculation module, for according to the controller frequency response characteristic, object model
Frequency response characteristic, feedback channel frequency response characteristic, which are calculated, obtains control system open-loop frequency response characteristic.
3. the frequency response characteristic test system according to claim 1 based on control system, it is characterised in that described
One pumping signal is the sinusoidal signal that amplitude is adjustable, frequency is changed over time, and initial frequency and the end of first pumping signal
The only frequency range setting for the measured signal that frequency is provided according to the object model.
4. the frequency response characteristic test system according to claim 1 based on control system, it is characterised in that described
Two pumping signals are by the periodic sequence signal of N grades of linear feedback shift registers generations, and the frequency of second pumping signal
Rate output area is adjusted by the value of shift clock and feedback series N；The N is positive integer.
5. the frequency response characteristic test system according to claim 1 based on control system, it is characterised in that
The controller frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned C (j ω) represents controller frequency response characteristic, AC(ω) represents controller amplitude versus frequency characte,Represent
Controller phase-frequency characteristic, B (j ω) is the second pumping signal B discrete adding window Fourier transformation, and D (j ω) is output signal D's
Discrete adding window Fourier transformation；| | plural modulo operation is represented, arg represents that plural number takes argument computing；
The object model frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned G (j ω) represents object model frequency response characteristic, AG(ω) represents object model amplitude versus frequency characte,
Object model phase-frequency characteristic is represented, E (j ω) is the second control signal E discrete adding window Fourier transformation, and Y (j ω) believes for output
Number Y discrete adding window Fourier transformation；
The feedback channel frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned H (j ω) represents feedback channel frequency response characteristic, AH(ω) represents feedback channel amplitude versus frequency characte,
Feedback channel phase-frequency characteristic is represented, Y (j ω) is output signal Y discrete adding window Fourier transformation, and F (j ω) is feedback signal F
Discrete adding window Fourier transformation.
6. the frequency response characteristic test system according to claim 5 based on control system, it is characterised in that the control
System open loop frequency response characteristic processed is by controller frequency response characteristic C (j ω), object model frequency response characteristic G (j ω),
Feedback channel frequency response characteristic H (j ω) is calculated by following calculating formula and obtained：
CGH (j ω)=C (j ω) * G (j ω) * H (j ω), ACGH(ω)=AC(ω)*AG(ω)*AH(ω),
Wherein, above-mentioned CGH (j ω) is expressed as control system open-loop frequency response characteristic, ACGH(ω) represents that system open loop amplitude-frequency is special
Property,Represent system open loop phase-frequency characteristic.
7. the frequency response characteristic test system according to claim 1 based on control system, it is characterised in that the void
Intend controller adoption rate controller, and test system is reduced in test process to control system by adjusting proportionality coefficient
Influence.
8. a kind of frequency response characteristic method of testing based on control system, it is characterised in that comprise the following steps：
S1, the first subtracter produce error signal according to input signal, and the input signal is constant and feedback signal；
The error signal is converted to the first control signal and exported by S2, Virtual Controller；
According to first control signal and pumping signal the first pumping signal generation second of module occurs for S3, the second subtracter
Control signal, meanwhile, controller occurs the second pumping signal of module according to pumping signal and controller parameter generation the 3rd is controlled
Signal processed；
S4, second control signal act on object model and obtain output signal；
S5, the output signal switch to feedback signal via feedback channel, and by the feedback signal be input to the first subtracter it
In, form closed-loop control system；
S6, according to the second control signal of the control system, output signal, the 3rd control signal, the second pumping signal and anti-
Feedback signal, calculates the control system each several part frequency response characteristic and control system open-loop frequency response characteristic.
9. the frequency response characteristic method of testing according to claim 8 based on control system, it is characterised in that the control
System components frequency response characteristic processed includes the controller frequency response characteristic of the control system, object model frequency response
Characteristic, feedback channel frequency response characteristic；
The controller frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned C (j ω) represents controller frequency response characteristic, AC(ω) represents controller amplitude versus frequency characte,Represent
Controller phase-frequency characteristic, B (j ω) is the second pumping signal B discrete adding window Fourier transformation, and D (j ω) is output signal D's
Discrete adding window Fourier transformation；| | plural modulo operation is represented, arg represents that plural number takes argument computing；
The object model frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned G (j ω) represents object model frequency response characteristic, AG(ω) represents object model amplitude versus frequency characte,
Object model phase-frequency characteristic is represented, E (j ω) is the second control signal E discrete adding window Fourier transformation, and Y (j ω) believes for output
Number Y discrete adding window Fourier transformation；
The feedback channel frequency response characteristic is calculated by following calculating formula：
Wherein, above-mentioned H (j ω) represents feedback channel frequency response characteristic, AH(ω) represents feedback channel amplitude versus frequency characte,
Feedback channel phase-frequency characteristic is represented, Y (j ω) is output signal Y discrete adding window Fourier transformation, and F (j ω) is feedback signal F
Discrete adding window Fourier transformation；
The control system open-loop frequency response characteristic is by controller frequency response characteristic C (j ω), and object model frequency response is special
Property G (j ω), feedback channel frequency response characteristic H (j ω) pass through following calculating formula calculate obtain：CGH (j ω)=C (j ω) * G
(j ω) * H (j ω), ACGH(ω)=AC(ω)*AG(ω)*AH(ω),
Wherein, above-mentioned CGH (j ω) is expressed as control system open-loop frequency response characteristic, ACGH(ω) represents that system open loop amplitude-frequency is special
Property,Represent system open loop phase-frequency characteristic.
10. the frequency response characteristic method of testing according to claim 8 based on control system, it is characterised in that
First pumping signal is the sinusoidal signal that amplitude is adjustable, frequency is changed over time, and first pumping signal rises
Beginning frequency and the frequency range setting for terminating the measured signal that frequency is provided according to the object model；
Second pumping signal is the periodic sequence signal produced by N grade linear feedback shift registers, and this is second sharp
The rate-adaptive pacemaker scope for encouraging signal is adjusted by the value of shift clock and feedback series N；The N is positive integer.
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