CN105320057A - Synchronous movement control method of double vibration tables on the basis of coordinate-transformation matrix - Google Patents

Abstract

The present invention discloses a synchronous movement control method of double vibration tables on the basis of a coordinate-transformation matrix. The synchronous movement control method comprises: converting linear measurement of two control sensors on the double vibration tables to corresponding two degrees of freedom such as translation and rotation, and inputting the coordinate-transformation matrix; converting signals outputted by a multiple-input-multiple-output system to driving signals actually inputted to the power amplifiers of the double vibration tables, and outputting the coordinate-transformation matrix; and synchronously controlling the two-degree of freedom motion, specifically, performing closed-loop control according to the translation degree of freedom reference test magnitude, the rotation degree of freedom reference test magnitude, the transfer function of the system and the measured two-degree of freedom response through the multiple-input-multiple-output system, and realizing the synchronous movement of the double vibration tables. The synchronous movement control method of double vibration tables on the basis of a coordinate-transformation matrix has high control precision, and may preferably solve the technical question of synchronous movement control of the double vibration tables.

Description

Based on the Double earthquakes Synchronous motion control method of coordinate conversion matrix

Technical field

The invention belongs to spacecraft dynamic environmental test field, be specifically related to a kind of Double earthquakes Synchronous motion control method based on coordinate conversion matrix.

Background technology

Double earthquakes is synchronized with the movement and encourages pilot system to mainly contain two kinds of control modes at present.A kind of is power synchronisation control means based on Double earthquakes moving-coil current feedback; A kind of is standard square formation control method based on two reference mark on Double earthquakes.Double earthquakes utilizes phase controller to regulate the drive singal inputing to power amplifier according to the phase differential of two power amplifier feedback signals based on the power synchronisation control means of moving-coil current feedback usually, coordinates two shaking table synchronized movement; And utilize multi-input multi-output control system directly to carry out the control of standard square formation based on the reference test condition that the standard square formation controlling party rule at two reference mark on Double earthquakes is identical according to two reference mark, make two shaking table synchronized movement.The current power synchronisation control means based on Double earthquakes moving-coil current feedback needs single shaft vibrating controller to carry out two platform synchronized movement control of shaking in conjunction with phase controller, system complex; And all there is the not high problem of control accuracy with the standard square formation control method based on two reference mark on Double earthquakes in the method.

Summary of the invention

The technical problem to be solved in the present invention is to provide a kind of Double earthquakes Synchronous motion control method based on coordinate conversion matrix to make control accuracy high, and can solve Double earthquakes Synchronous motion control technical matters preferably.

In order to solve the problems of the technologies described above, the invention provides a kind of Double earthquakes synchronisation control means based on coordinate conversion matrix, comprising the following steps:

(1) input coordinate transition matrix is built, described structure input coordinate transition matrix step comprises according to the distance determination input coordinate transition matrix on Double earthquakes between two control sensors, and linear measurement Double earthquakes controlling sensor is converted to corresponding translation and rotation two degree of freedom by acting as of input coordinate transition matrix;

(2) output coordinate transition matrix is built, described structure output coordinate transition matrix step comprise according to Double earthquakes excitation between distance determination output coordinate transition matrix, output coordinate transition matrix act as by multi-input multi-output control system export signal be converted to the actual drive singal inputing to Double earthquakes power amplifier;

(3) two degree-of-freedom motion synchro control, described two degree-of-freedom motion synchro control step is specially the white noise random signal that multi-input multi-output control system first sends the low magnitude of two-way, and this white noise random signal enters power amplifier and drives Double earthquakes to move after output coordinate transition matrix; On Double earthquakes, the response of two measurement points enters multi-input multi-output control system after input coordinate transition matrix, and control system calculates the transport function of whole system according to input and output signal; Multi-input multi-output control system calculates initial two-way drive singal according to the translational degree of freedom reference test magnitude arranged, rotational freedom reference test magnitude, system transter subsequently, and this two-way drive singal enters power amplifier and drives Double earthquakes to move after output coordinate transition matrix; Multi-input multi-output control system is according to two degrees of freedom response level and the translation of measuring and rotates two degrees of freedom reference test magnitude and compare and the error of calculation, revises the two-way drive singal of transmission in real time, thus realizes the control of Double earthquakes synchronized movement.

Double earthquakes Synchronous motion control method based on coordinate conversion matrix provided by the invention is converted to corresponding translation according to the control linear sensor measurement on two shaking tables and rotates two degree of freedom, test magnitude and the standard side of translational degree of freedom Control experiment magnitude of shaking is identical, the test magnitude of rotational freedom is then set to the lower numerical value of a relative translational movement degree of freedom, translational degree of freedom is realized by multi-input multi-output control system, and rotational freedom is suppressed by multi-input multi-output control system, thus realize Double earthquakes synchronized movement.Control method of the present invention controls to compare with direct standard square formation with two platform current feedback synchro control of shaking, and control accuracy is higher, solves Double earthquakes Synchronous motion control technical matters preferably.

Accompanying drawing explanation

Fig. 1 is Double earthquakes synchro control of the present invention response geometric layout figure;

Wherein, 1-first acceleration transducer, 2-second acceleration transducer, the two platform geometric center of shaking of 3-.

Fig. 2 is Double earthquakes synchro control of the present invention excitation geometric layout figure;

Wherein, 4-first shaking table excitation, the excitation of 5-second shaking table.

Fig. 3 is input coordinate transition matrix design of graphics of the present invention.

Fig. 4 is output coordinate transition matrix design of graphics of the present invention.

Fig. 5 is Double earthquakes two degree-of-freedom motion synchro control process flow diagram of the present invention.

Embodiment

Below in conjunction with accompanying drawing, a kind of Double earthquakes Synchronous motion control method based on coordinate conversion matrix of the present invention is further described.

Fig. 1 is Double earthquakes synchro control of the present invention response geometric layout figure.As shown in Figure 1, the distance between the first acceleration transducer 1 shaking table placed and the second acceleration transducer 2 is 2r.First acceleration transducer 1 and the second acceleration transducer 2 are r from the distance of Double earthquakes geometric center 3.How the linear acceleration of two Vertical dimension is measured the translational degree of freedom T and the rotational freedom R that are converted to test specimen by input coordinate transition matrix by describing below.

For translation, the first acceleration transducer 1, second acceleration transducer 2 need move in same direction, mathematic(al) mean method can be adopted to calculate, that is:

T _control＝0.5A ₁+0.5A ₂..................................(1)

Wherein A1 represents the response of the first acceleration transducer; A2 represents the response of the second acceleration transducer; T _controlrepresent that translational degree of freedom controls magnitude.

For rotation, the first acceleration transducer 1, second acceleration transducer 2 needs direction of motion contrary, also can adopt mathematic(al) mean method to calculate, need consider the impact of acceleration of gravity constant G when linear acceleration being converted to rotary acceleration.That is:

$R_{control}=\frac{A_1-A_2}{2r}G\mathrm{...}\left(2\right)$

Convert upper two formula to matrix form, then have:

$\left\{\begin{array}{c}{T}_{control}\\ R_{control}\end{array}\right\}=\left[\begin{array}{cc}0.5& 0.5\\ \frac{0.5G}{r}& -\frac{0.5G}{r}\end{array}\right]\left\{\begin{array}{c}{A}_1\\ A_2\end{array}\right\}\mathrm{...}\left(3\right)$

Input coordinate transition matrix is expressed as follows:

${\[TM\]}_{input}=\left[\begin{array}{cc}0.5& 0.5\\ \frac{0.5G}{r}& -\frac{0.5G}{r}\end{array}\right]\mathrm{...}\left(4\right)$

Fig. 2 is Double earthquakes synchro control of the present invention excitation geometric layout figure.As shown in Figure 2, for output coordinate transition matrix, by the method for observing, output degree of freedom can be converted to linear incentive signal.Suppose the first shaking table excitation 4, second shaking table excitation 5 apart from the distance of two platform geometric center 3 of shaking be r ~.Utilize input transition matrix derivation method, can show that the relation that excitation degree of freedom and linear incentive export is as follows:

$\left\{\begin{array}{c}{T}_{drive}\\ R_{drive}\end{array}\right\}=\left[\begin{array}{cc}0.5& 0.5\\ \frac{0.5G}{\tilde{r}}& -\frac{0.5G}{\tilde{r}}\end{array}\right]\left\{\begin{array}{c}{D}_1\\ D_2\end{array}\right\}\mathrm{...}\left(5\right)$

Wherein D1 represents the drive singal of the first shaking table excitation 4; D2 represents the drive singal of the second shaking table excitation 5; T _driverepresent that translational degree of freedom drives magnitude; R _driverepresent that rotational freedom drives magnitude.

Therefore the pumping signal of reality is by obtaining above formula matrix inversion, that is:

$\left\{\begin{array}{c}{D}_1\\ D_2\end{array}\right\}={\left[\begin{array}{cc}0.5& 0.5\\ \frac{0.5G}{\tilde{r}}& -\frac{0.5G}{\tilde{r}}\end{array}\right]}^{-1}\left\{\begin{array}{c}{T}_{drive}\\ R_{drive}\end{array}\right\}\mathrm{...}\left(6\right)$

Finally show that output linearity pumping signal is as follows with the relation of excitation degree of freedom:

$\left\{\begin{array}{c}{D}_1\\ D_2\end{array}\right\}=\left[\begin{array}{cc}1& \tilde{r}/G\\ 1& -\tilde{r}/G\end{array}\right]\left\{\begin{array}{c}{T}_{drive}\\ R_{drive}\end{array}\right\}\mathrm{...}\left(7\right)$

Output coordinate expression matrix is as follows:

${\[TM\]}_{output}=\left[\begin{array}{cc}1& \tilde{r}/G\\ 1& -\tilde{r}/G\end{array}\right]\mathrm{...}\left(8\right)$

Double earthquakes Synchronous motion control method based on coordinate conversion matrix comprises the steps:

(1) input coordinate transition matrix is built.Particularly, build input coordinate transition matrix to comprise according to the distance determination input coordinate transition matrix (see formula 4) (as shown in Figure 3) on Double earthquakes between two control sensors.Linear measurement Double earthquakes controlling sensor is converted to corresponding translation and rotation two degree of freedom by acting as of input coordinate transition matrix.

(2) output coordinate transition matrix is built.Particularly, build output coordinate transition matrix to comprise according to Double earthquakes excitation between distance determination output coordinate transition matrix (see formula 8) (as shown in Figure 4).The signal act as multi-input multi-output control system exports of output coordinate transition matrix is converted to the actual drive singal inputing to Double earthquakes power amplifier.

(3) two degree-of-freedom motion synchro control.Particularly, two degree-of-freedom motion synchro control is the white noise random signal that multi-input multi-output control system first sends the low magnitude of two-way, and this white noise random signal enters power amplifier and drives Double earthquakes to move after output coordinate transition matrix; On Double earthquakes, the response of two measurement points enters multi-input multi-output control system after input coordinate transition matrix, and control system calculates the transport function of whole system according to input and output signal; According to the translational degree of freedom reference test magnitude arranged, rotational freedom reference test magnitude, (rotational freedom reference test magnitude requires for translational degree of freedom test magnitude 10 to multi-input multi-output control system subsequently ^-3doubly following), system transter calculates initial two-way output signal, this two-way output signal enters power amplifier and drives Double earthquakes to move after output coordinate transition matrix; Multi-input multi-output control system is according to two degrees of freedom response level and the translation of measuring and rotate two degrees of freedom reference test magnitude and compare the also error of calculation, the real-time two-way drive singal revising transmission, thus realize Double earthquakes synchronized movement control (as shown in Figure 5).

Although give detailed description and explanation to the specific embodiment of the present invention above; but what should indicate is; we can carry out various equivalence according to conception of the present invention to above-mentioned embodiment and change and amendment; its function produced do not exceed that instructions and accompanying drawing contain yet spiritual time, all should within protection scope of the present invention.

Claims (5)

1., based on a Double earthquakes Synchronous motion control method for coordinate conversion matrix, comprise following three steps:

(1) input coordinate transition matrix is built, described structure input coordinate transition matrix step comprises according to the distance determination input coordinate transition matrix on Double earthquakes between two control sensors, and linear measurement Double earthquakes controlling sensor is converted to corresponding translation and rotation two degree of freedom by acting as of input coordinate transition matrix;

(2) output coordinate transition matrix is built, described structure output coordinate transition matrix step comprise according to Double earthquakes excitation between distance determination output coordinate transition matrix, output coordinate transition matrix act as by multi-input multi-output control system export signal be converted to the actual drive singal inputing to Double earthquakes power amplifier;

(3) two degree-of-freedom motion synchro control, described two degree-of-freedom motion synchro control step is specially the white noise random signal that multi-input multi-output control system first sends the low magnitude of two-way, and this white noise random signal enters power amplifier and drives Double earthquakes to move after output coordinate transition matrix; On Double earthquakes, the response of two measurement points enters multi-input multi-output control system after input coordinate transition matrix, and control system calculates the transport function of whole system according to input and output signal; Multi-input multi-output control system calculates initial two-way output signal according to the translational degree of freedom reference test magnitude arranged, rotational freedom reference test magnitude, system transter subsequently, and this two-way output signal enters power amplifier and drives Double earthquakes to move after output coordinate transition matrix; Multi-input multi-output control system is according to two degrees of freedom response level and the translation of measuring and rotates two degrees of freedom reference test magnitude and compare and the error of calculation, revises the two-way drive singal of transmission in real time, thus realizes the control of Double earthquakes synchronized movement.

2., as claimed in claim 1 based on the Double earthquakes Synchronous motion control method of coordinate conversion matrix, it is characterized in that, described input coordinate transition matrix and described output coordinate transition matrix are the square formation of 2 × 2.

3. as claimed in claim 1 based on the Double earthquakes Synchronous motion control method of coordinate conversion matrix, it is characterized in that, rotational freedom test magnitude requires for translational degree of freedom test magnitude 10 ^-3doubly.

4., as claimed in claim 1 based on the Double earthquakes Synchronous motion control method of coordinate conversion matrix, it is characterized in that, described input coordinate transition matrix is:

${\left[\mathrm{TM}\right]}_{\mathrm{input}}=\begin{array}{}\end{array}\left[\begin{array}{cc}\stackrel{0.5}{\frac{0.5G}{r}}& -\stackrel{0.5}{\frac{0.5G}{r}}\end{array}\right],$ Wherein, G is acceleration of gravity constant, and r is the distance of the first acceleration transducer, the second acceleration transducer and Double earthquakes geometric center.

5., as claimed in claim 1 based on the Double earthquakes Synchronous motion control method of coordinate conversion matrix, it is characterized in that, described output coordinate transition matrix is:

${\left[\mathrm{TM}\right]}_{\mathrm{output}}=\left[\begin{array}{cc}1& \tilde{r}/G\\ 1& -\tilde{r}/G\end{array}\right],$ Wherein, G is acceleration of gravity constant, be that the first shaking table encourages, the second shaking table encourages the distance with two platform geometric center of shaking.