CN105320057B - Double earthquakes Synchronous motion control method based on coordinate conversion matrix - Google Patents
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Abstract
本发明公开了一种基于坐标转换矩阵的双振动台同步运动控制方法。该方法包括将双振动台上控制传感器的线性测量转换为相应的平动和转动两个自由度的构建输入坐标转换矩阵步骤；将多输入多输出控制系统输出的信号转换为实际输入给双振动台功放的驱动信号的构建输出坐标转换矩阵步骤；以及同步控制二自由度运动，同步控制二自由度运动步骤为多输入多输出控制系统根据设置的平动自由度参考试验量级、转动自由度参考试验量级、系统的传递函数及测量的二自由度响应进行闭环控制，从而实现双振动台运动保持同步。本发明的基于坐标转换矩阵的双振动台同步运动控制方法控制精度高，较好地解决了双振动台同步运动控制技术问题。
The invention discloses a method for controlling the synchronous motion of a double vibrating table based on a coordinate conversion matrix. The method includes the steps of converting the linear measurement of the control sensor on the dual vibration table into the corresponding two degrees of freedom of translation and rotation to construct an input coordinate transformation matrix; The step of constructing the output coordinate transformation matrix of the driving signal of the power amplifier; and synchronously controlling the two-degree-of-freedom motion, the synchronously controlling the two-degree-of-freedom motion step is a multi-input multi-output control system according to the set translational degree of freedom reference test magnitude, rotational degree of freedom The closed-loop control is carried out with reference to the test level, the transfer function of the system and the measured two-degree-of-freedom response, so as to realize the synchronization of the movement of the double shaking table. The method for controlling the synchronous motion of the double vibrating tables based on the coordinate transformation matrix of the present invention has high control precision, and better solves the technical problem of the synchronous motion control of the double vibrating tables.
Description
技术领域technical field
本发明属于航天器力学环境试验领域，具体涉及一种基于坐标转换矩阵的双振动台同步运动控制方法。The invention belongs to the field of spacecraft mechanics environment test, and in particular relates to a method for controlling the synchronous motion of double vibrating tables based on a coordinate conversion matrix.
背景技术Background technique
双振动台同步运动激励试验系统目前主要有两种控制方式。一种是基于双振动台动圈电流反馈的力同步控制方法；一种是基于双振动台上两个控制点的标准方阵控制方法。双振动台基于动圈电流反馈的力同步控制方法通常利用相位控制器根据两个功放反馈信号的相位差来调节输入给功放的驱动信号，协调两个振动台运动同步；而基于双振动台上两个控制点的标准方阵控制方法则根据两个控制点相同的参考试验条件利用多输入多输出控制系统直接进行标准方阵控制，使两个振动台运动同步。当前基于双振动台动圈电流反馈的力同步控制方法需要单轴振动控制器结合相位控制器进行双振台运动同步控制，系统复杂；且该方法与基于双振动台上两个控制点的标准方阵控制方法两者均存在控制精度不高的问题。There are currently two main control methods for the dual-shaking table synchronous motion excitation test system. One is the force synchronous control method based on the dynamic current feedback of the double shaking table; the other is the standard square matrix control method based on two control points on the double shaking table. The force synchronization control method based on the dynamic current feedback of the double vibrating table usually uses the phase controller to adjust the drive signal input to the power amplifier according to the phase difference of the feedback signals of the two power amplifiers, and coordinates the motion synchronization of the two vibrating tables; The standard square matrix control method of two control points is based on the same reference test conditions of the two control points, and the multi-input multi-output control system is used to directly control the standard square matrix to make the two shaking tables move synchronously. The current force synchronous control method based on the dynamic current feedback of the dual vibrating tables requires a single-axis vibration controller combined with a phase controller to perform synchronous control of the dual vibrating tables, and the system is complex; and this method is different from the standard based on two control points on the dual vibrating tables Both of the square matrix control methods have the problem of low control accuracy.
发明内容Contents of the invention
本发明要解决的技术问题在于提供一种基于坐标转换矩阵的双振动台同步运动控制方法以使控制精度高，并能较好地解决双振动台同步运动控制技术问题。The technical problem to be solved by the present invention is to provide a method for controlling the synchronous motion of the dual vibrating tables based on the coordinate transformation matrix to achieve high control precision and to better solve the technical problem of synchronous motion control of the dual vibrating tables.
为了解决上述技术问题，本发明提供了一种基于坐标转换矩阵的双振动台同步控制方法，包括以下步骤：In order to solve the above-mentioned technical problems, the present invention provides a method for synchronous control of dual vibrating tables based on a coordinate transformation matrix, comprising the following steps:
(1)构建输入坐标转换矩阵，所述构建输入坐标转换矩阵步骤包括根据双振动台上两个控制传感器之间的距离确定输入坐标转换矩阵，输入坐标转换矩阵的作用为将双振动台上控制传感器的线性测量转换为相应的平动和转动两个自由度；(1) Constructing the input coordinate transformation matrix, the described construction input coordinate transformation matrix step includes determining the input coordinate transformation matrix according to the distance between the two control sensors on the double vibrating table, the effect of the input coordinate transformation matrix is to control on the double vibrating table The linear measurement of the sensor is converted into the corresponding two degrees of freedom of translation and rotation;
(2)构建输出坐标转换矩阵，所述构建输出坐标转换矩阵步骤包括根据双振动台激励之间的距离确定输出坐标转换矩阵，输出坐标转换矩阵的作用为将多输入多输出控制系统输出的信号转换为实际输入给双振动台功放的驱动信号；(2) Construct the output coordinate transformation matrix, the described step of constructing the output coordinate transformation matrix includes determining the output coordinate transformation matrix according to the distance between the excitations of the double shaking tables, the effect of the output coordinate transformation matrix is the signal output by the multi-input multi-output control system Converted to the driving signal actually input to the power amplifier of the double vibrating table;
(3)二自由度运动同步控制，所述二自由度运动同步控制步骤具体为多输入多输出控制系统先发送两路低量级的白噪声随机信号，该白噪声随机信号经过输出坐标转换矩阵后进入功率放大器并驱动双振动台运动；双振动台上两个测量点的响应经过输入坐标转换矩阵后进入多输入多输出控制系统，控制系统根据输入和输出信号计算整个系统的传递函数；随后多输入多输出控制系统根据设置的平动自由度参考试验量级、转动自由度参考试验量级、系统的传递函数计算初始的两路驱动信号，该两路驱动信号经过输出坐标转换矩阵后进入功率放大器并驱动双振动台运动；多输入多输出控制系统根据测量的二自由度响应量级与平动和转动二自由度参考试验量级进行比较并计算误差，实时修正发送的两路驱动信号，从而实现双振动台运动同步控制。(3) Two-degree-of-freedom motion synchronization control. The two-degree-of-freedom motion synchronization control step is specifically that the multiple-input multiple-output control system first sends two low-level white noise random signals, and the white noise random signals pass through the output coordinate transformation matrix. After that, it enters the power amplifier and drives the movement of the double vibrating table; the responses of the two measurement points on the double vibrating table enter the multi-input multi-output control system after passing through the input coordinate transformation matrix, and the control system calculates the transfer function of the entire system according to the input and output signals; then The multi-input and multi-output control system calculates the initial two-way driving signals according to the set translational degree of freedom reference test level, rotational degree of freedom reference test level, and system transfer function. The two-way driving signals enter the The power amplifier drives the movement of the double shaking table; the multi-input and multi-output control system compares the measured two-degree-of-freedom response magnitude with the translation and rotational two-degree-of-freedom reference test magnitude and calculates the error, and corrects the two driving signals sent in real time , so as to realize the synchronous control of the motion of the double vibrating table.
本发明提供的基于坐标转换矩阵的双振动台同步运动控制方法根据两个振动台上的控制传感器线性测量转换为相应的平动和转动两个自由度，平动自由度的试验量级与标准方振控制试验量级相同，转动自由度的试验量级则设置为一个相对平动自由度较低的数值，平动自由度通过多输入多输出控制系统进行实现，而转动自由度通过多输入多输出控制系统进行抑制，从而实现双振动台运动同步。本发明的控制方法与双振台电流反馈同步控制和直接标准方阵控制相比，控制精度更高，较好地解决了双振动台同步运动控制技术问题。The method for synchronous motion control of dual shaking tables based on the coordinate transformation matrix provided by the present invention is converted into corresponding two degrees of freedom of translation and rotation according to the linear measurement of the control sensors on the two shaking tables, and the test magnitude and standard of the translation degree of freedom The magnitude of the square vibration control test is the same, and the test magnitude of the rotational degree of freedom is set to a lower value than the translational degree of freedom. The translational degree of freedom is realized through the multi-input The multi-output control system is suppressed, so that the movement of the double shaker is synchronized. Compared with the current feedback synchronous control of double vibrating tables and the direct standard square matrix control, the control method of the present invention has higher control precision, and better solves the technical problem of synchronous motion control of double vibrating tables.
附图说明Description of drawings
图1为本发明的双振动台同步控制响应几何布局图；Fig. 1 is the geometrical layout diagram of the synchronous control response of the double vibrating table of the present invention;
其中，1－第一加速度传感器、2－第二加速度传感器、3－双振台几何中心。Among them, 1 - the first acceleration sensor, 2 - the second acceleration sensor, 3 - the geometric center of the double vibration table.
图2为本发明的双振动台同步控制激励几何布局图；Fig. 2 is the geometrical layout diagram of the synchronous control excitation of the double vibrating table of the present invention;
其中，4－第一振动台激励、5－第二振动台激励。Among them, 4-first vibration table excitation, 5-second vibration table excitation.
图3为本发明的输入坐标转换矩阵构建图。Fig. 3 is a construction diagram of the input coordinate transformation matrix of the present invention.
图4为本发明的输出坐标转换矩阵构建图。Fig. 4 is a construction diagram of the output coordinate transformation matrix of the present invention.
图5为本发明的双振动台二自由度运动同步控制流程图。Fig. 5 is a flowchart of the synchronous control of the two-degree-of-freedom movement of the double vibrating table of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明的一种基于坐标转换矩阵的双振动台同步运动控制方法作进一步的说明。A method for controlling the synchronous motion of dual vibrating tables based on the coordinate transformation matrix of the present invention will be further described below in conjunction with the accompanying drawings.
图1为本发明的双振动台同步控制响应几何布局图。如图1所示，振动台上放置的第一加速度传感器1和第二加速度传感器2之间的距离为2r。第一加速度传感器1和第二加速度传感器2离双振动台几何中心3的距离均为r。下面将描述如何将两个垂直向的线性加速度测量通过输入坐标转换矩阵转换为试件的平动自由度T和转动自由度R。Fig. 1 is a geometrical layout diagram of the synchronous control response of the double vibrating table of the present invention. As shown in FIG. 1 , the distance between the first acceleration sensor 1 and the second acceleration sensor 2 placed on the vibrating table is 2r. Both the first acceleration sensor 1 and the second acceleration sensor 2 are at a distance r from the geometric center 3 of the double vibrating table. The following will describe how to convert the two vertical linear acceleration measurements into the translational degrees of freedom T and rotational degrees of freedom R of the specimen through the input coordinate transformation matrix.
对于平动而言，第一加速度传感器1、第二加速度传感器2需在同一个方向运动，可以采用数学平均方法计算，即：For translation, the first acceleration sensor 1 and the second acceleration sensor 2 need to move in the same direction, which can be calculated by mathematical average method, namely:
Tcontrol＝0.5A1+0.5A2..................................(1)T control ＝0.5A 1 +0.5A 2 ..................................(1)
其中A1表示第一加速度传感器的响应；A2表示第二加速度传感器的响应；Tcontrol表示平动自由度控制量级。Among them, A1 represents the response of the first acceleration sensor; A2 represents the response of the second acceleration sensor; T control represents the control level of the translation degree of freedom.
对于转动而言，第一加速度传感器1、第二加速度传感器2需运动方向相反，也可以采用数学平均方法来计算，将线性加速度转换成旋转加速度时需考虑重力加速度常量G的影响。即：For rotation, the first acceleration sensor 1 and the second acceleration sensor 2 need to move in opposite directions, and can also be calculated by using a mathematical average method. The influence of the gravitational acceleration constant G needs to be considered when converting linear acceleration into rotational acceleration. which is:
将上两公式转换成矩阵形式，则有：Convert the above two formulas into matrix form, then:
输入坐标转换矩阵表达如下：The input coordinate transformation matrix is expressed as follows:
图2为本发明的双振动台同步控制激励几何布局图。如图2所示，对于输出坐标转换矩阵，可以用观察的方法将输出自由度转换为线性激励信号。假设第一振动台激励4、第二振动台激励5距双振台几何中心3的距离均为r～。利用输入转换矩阵推导方法，可以得出激励自由度与线性激励输出的关系如下：Fig. 2 is a geometric layout diagram of the synchronous control excitation of the double vibrating table of the present invention. As shown in Figure 2, for the output coordinate transformation matrix, the output degrees of freedom can be converted into linear excitation signals by the method of observation. Assume that the distance between the first vibration table excitation 4 and the second vibration table excitation 5 from the geometric center 3 of the double vibration table is r~. Using the derivation method of the input transformation matrix, the relationship between the excitation degrees of freedom and the linear excitation output can be obtained as follows:
其中D1表示第一振动台激励4的驱动信号；D2表示第二振动台激励5的驱动信号；Tdrive表示平动自由度驱动量级；Rdrive表示转动自由度驱动量级。Among them, D1 represents the drive signal of the first vibration table excitation 4; D2 represents the drive signal of the second vibration table excitation 5; T drive represents the drive level of the translational degree of freedom; R drive represents the drive level of the rotational degree of freedom.
因此实际的激励信号通过对上式矩阵求逆得到，即：Therefore, the actual excitation signal is obtained by inverting the above matrix, namely:
最后得出输出线性激励信号与激励自由度的关系如下：Finally, the relationship between the output linear excitation signal and the excitation degrees of freedom is obtained as follows:
输出坐标矩阵表达如下：The output coordinate matrix is expressed as follows:
基于坐标转换矩阵的双振动台同步运动控制方法包括如下步骤：The method for synchronous motion control of dual shaking tables based on the coordinate transformation matrix includes the following steps:
(1)构建输入坐标转换矩阵。具体地，构建输入坐标转换矩阵包括根据双振动台上两个控制传感器之间的距离确定输入坐标转换矩阵(参见公式4)(如图3所示)。输入坐标转换矩阵的作用为将双振动台上控制传感器的线性测量转换为相应的平动和转动两个自由度。(1) Construct the input coordinate transformation matrix. Specifically, constructing the input coordinate transformation matrix includes determining the input coordinate transformation matrix (see formula 4) according to the distance between the two control sensors on the double vibration table (as shown in FIG. 3 ). The role of the input coordinate transformation matrix is to convert the linear measurement of the control sensors on the double vibration table into the corresponding two degrees of freedom of translation and rotation.
(2)构建输出坐标转换矩阵。具体地，构建输出坐标转换矩阵包括根据双振动台激励之间的距离确定输出坐标转换矩阵(参见公式8)(如图4所示)。输出坐标转换矩阵的作用为将多输入多输出控制系统输出的信号转换为实际输入给双振动台功放的驱动信号。(2) Construct the output coordinate transformation matrix. Specifically, constructing the output coordinate transformation matrix includes determining the output coordinate transformation matrix (see formula 8) according to the distance between the excitations of the double shaking tables (as shown in FIG. 4 ). The function of the output coordinate transformation matrix is to convert the output signal of the MIMO control system into the driving signal actually input to the power amplifier of the double shaking table.
(3)二自由度运动同步控制。具体地，二自由度运动同步控制为多输入多输出控制系统先发送两路低量级的白噪声随机信号，该白噪声随机信号经过输出坐标转换矩阵后进入功率放大器并驱动双振动台运动；双振动台上两个测量点的响应经过输入坐标转换矩阵后进入多输入多输出控制系统，控制系统根据输入和输出信号计算整个系统的传递函数；随后多输入多输出控制系统根据设置的平动自由度参考试验量级、转动自由度参考试验量级(转动自由度参考试验量级要求为平动自由度试验量级的10-3倍以下)、系统的传递函数计算初始的两路输出信号，该两路输出信号经过输出坐标转换矩阵后进入功率放大器并驱动双振动台运动；多输入多输出控制系统根据测量的二自由度响应量级与平动和转动二自由度参考试验量级进行比较并计算误差，实时修正发送的两路驱动信号，从而实现双振动台运动同步控制(如图5所示)。(3) Two-degree-of-freedom motion synchronous control. Specifically, the two-degree-of-freedom motion synchronous control is that the multiple-input multiple-output control system first sends two low-level white noise random signals, and the white noise random signals enter the power amplifier after passing through the output coordinate transformation matrix and drive the double shaking table; The responses of the two measurement points on the double shaking table enter the multi-input multi-output control system after passing through the input coordinate transformation matrix, and the control system calculates the transfer function of the whole system according to the input and output signals; then the multi-input multi-output control system The reference test level of the degree of freedom, the reference test level of the rotational degree of freedom (the reference test level of the rotational degree of freedom is required to be less than 10 -3 times the test level of the translational degree of freedom), the initial two output signals of the system transfer function calculation , the two output signals enter the power amplifier after passing through the output coordinate transformation matrix and drive the double shaking table; the multi-input and multi-output control system is carried out according to the measured two-degree-of-freedom response magnitude and the translational and rotational two-degree-of-freedom reference test magnitude Compare and calculate the error, and correct the two driving signals sent in real time, so as to realize the synchronous control of the motion of the double shaking table (as shown in Figure 5).
尽管上文对本发明的具体实施方式给予了详细描述和说明，但是应该指明的是，我们可以依据本发明的构想对上述实施方式进行各种等效改变和修改，其所产生的功能作用仍未超出说明书及附图所涵盖的精神时，均应在本发明的保护范围之内。Although the specific embodiments of the present invention have been described and illustrated in detail above, it should be pointed out that we can make various equivalent changes and modifications to the above-mentioned embodiments according to the concept of the present invention, and the functional effects produced by it are still the same. Anything beyond the spirit contained in the specification and drawings shall fall within the protection scope of the present invention.
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| CN106248327A (en) * | 2016-07-11 | 2016-12-21 | 北京强度环境研究所 | A kind of firing box Transport Vibration assay device and method |
| CN107543671B (en) * | 2016-07-15 | 2019-02-19 | 北京卫星环境工程研究所 | Matching Method of Multiple Parallel Excited Vibration Controllers and Digital Phase Synchronous Controllers |
| CN108254145B (en) * | 2017-12-29 | 2020-06-26 | 苏州东菱智能减振降噪技术有限公司 | Control method for realizing synchronous vibration of multiple vibration tables |
| CN112629833B (en) * | 2019-09-25 | 2024-04-19 | 上海汽车集团股份有限公司 | Load acquisition method and device |
| CN112444367B (en) * | 2020-12-18 | 2022-11-15 | 中国工程物理研究院总体工程研究所 | Multi-vibration-table parallel-pushing single-shaft vibration test control method |
| CN114646440B (en) * | 2022-03-16 | 2023-06-20 | 北京卫星环境工程研究所 | Construction method of input-output coordinate transformation matrix for three-axis six-degree-of-freedom vibration control |
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