CN105320057B - Double earthquakes Synchronous motion control method based on coordinate conversion matrix - Google Patents
Double earthquakes Synchronous motion control method based on coordinate conversion matrix Download PDFInfo
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- CN105320057B CN105320057B CN201510282045.7A CN201510282045A CN105320057B CN 105320057 B CN105320057 B CN 105320057B CN 201510282045 A CN201510282045 A CN 201510282045A CN 105320057 B CN105320057 B CN 105320057B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
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Abstract
The invention discloses a kind of Double earthquakes Synchronous motion control method based on coordinate conversion matrix.This method includes the linear measurement for controlling sensor on Double earthquakes being converted to corresponding translation and rotates the structure input coordinate transition matrix step of two frees degree；The signal that multi-input multi-output control system exports is converted to the structure output coordinate transition matrix step for the drive signal for being actually inputted to Double earthquakes power amplifier；And Synchronization Control two degree-of-freedom motion, Synchronization Control two degree-of-freedom motion step is that multi-input multi-output control system responds progress closed-loop control according to the translational degree of freedom reference test magnitude of setting, rotational freedom reference test magnitude, system transter and the two degrees of freedom of measurement, so as to realize that Double earthquakes motion keeps synchronous.The Double earthquakes Synchronous motion control method control accuracy based on coordinate conversion matrix of the present invention is high, preferably solves Double earthquakes Synchronous motion control technical problem.
Description
Technical field
The invention belongs to spacecraft dynamic environmental test field, and in particular to a kind of double vibrations based on coordinate conversion matrix
Platform Synchronous motion control method.
Background technology
Double earthquakes, which are synchronized with the movement, encourages pilot system mainly to have two kinds of control modes at present.One kind is to be based on Double earthquakes
The power synchronisation control means of moving-coil current feedback；A kind of is the standard square formation controlling party based on two control points on Double earthquakes
Method.Power synchronisation control means of the Double earthquakes based on moving-coil current feedback is generally fed back using phase controller according to two power amplifiers
The phase difference of signal inputs to the drive signal of power amplifier to adjust, and it is synchronous to coordinate two shake table motions；And it is based on Double earthquakes
The standard square formation controlling party rule at upper two control points is more using multi input according to two control point identical reference test conditions
Output control system directly carries out standard square formation control, makes two shake table motions synchronous.It is currently based on Double earthquakes moving-coil electricity
The power synchronisation control means of stream feedback needs single shaft vibrating controller combination phase controller to carry out double platform motion Synchronization Controls of shaking,
System complex；And there is control essence in this method with the standard square formation control method both of which based on two control points on Double earthquakes
The problem of degree is not high.
The content of the invention
The technical problem to be solved in the present invention is that providing a kind of Double earthquakes based on coordinate conversion matrix is synchronized with the movement
Control method is so that control accuracy is high, and can preferably solve Double earthquakes Synchronous motion control technical problem.
In order to solve the above-mentioned technical problem, the invention provides a kind of Double earthquakes based on coordinate conversion matrix synchronously to control
Method processed, comprises the following steps：
(1) input coordinate transition matrix is built, the structure input coordinate transition matrix step is included according to Double earthquakes
The distance between upper two control sensors determine input coordinate transition matrix, and input coordinate transition matrix act as shaking double
The linear measurement of sensor is controlled to be converted to corresponding translation and rotate two frees degree on dynamic platform；
(2) output coordinate transition matrix is built, the structure output coordinate transition matrix step is included according to Double earthquakes
The distance between excitation determines output coordinate transition matrix, and output coordinate transition matrix act as controlling multiple-input and multiple-output
The signal of system output is converted to the drive signal for being actually inputted to Double earthquakes power amplifier；
(3) two degree-of-freedom motion Synchronization Control, the two degree-of-freedom motion Synchronization Control step are specially that how defeated multi input is
Go out the white noise random signal that control system first sends two-way low amounts level, the white noise random signal is by output coordinate conversion square
Enter power amplifier after battle array and drive Double earthquakes to move；The response of two measurement points turns by input coordinate on Double earthquakes
Enter multi-input multi-output control system after changing matrix, control system calculates the transmission of whole system according to input and output signal
Function；Subsequent multi-input multi-output control system refers to according to the translational degree of freedom reference test magnitude of setting, rotational freedom
Experiment magnitude, system transter calculate initial two-way drive signal, and the two-way drive signal is changed by output coordinate
Enter power amplifier after matrix and drive Double earthquakes to move；Multi-input multi-output control system is according to the two degrees of freedom of measurement
Response level and translation and compared with rotating two degrees of freedom reference test magnitude and calculation error, the two-way that amendment is sent in real time
Drive signal, so as to realize that Double earthquakes move Synchronization Control.
Double earthquakes Synchronous motion control method provided by the invention based on coordinate conversion matrix is according to two shake tables
On control linear sensor measures conversion for corresponding translation and rotate two frees degree, the experiment magnitude of translational degree of freedom with
Standard side's Control experiment magnitude of shaking is identical, and it is relatively low that the experiment magnitude of rotational freedom is then arranged to a relative translational movement free degree
Numerical value, translational degree of freedom are realized by multi-input multi-output control system, and rotational freedom passes through multiple-input and multiple-output
Control system is suppressed, so as to realize that Double earthquakes motion is synchronous.The control method of the present invention and double platform current feedbacks of shaking are same
Step control is compared with the control of direct standard square formation, and control accuracy is higher, preferably solves Double earthquakes Synchronous motion control skill
Art problem.
Brief description of the drawings
The Double earthquakes Synchronization Control that Fig. 1 is the present invention responds geometric layout figure；
Wherein, the double platform geometric centers of shaking of the acceleration transducers of 1- first, the acceleration transducers of 2- second, 3-.
The Double earthquakes Synchronization Control that Fig. 2 is the present invention encourages geometric layout figure；
Wherein, the excitation of the shake tables of 4- first, the excitation of the shake tables of 5- second.
Fig. 3 is the input coordinate transition matrix structure figure of the present invention.
Fig. 4 is the output coordinate transition matrix structure figure of the present invention.
Fig. 5 is the Double earthquakes two degree-of-freedom motion Synchronization Control flow chart of the present invention.
Embodiment
Below in conjunction with the accompanying drawings to a kind of Double earthquakes Synchronous motion control method based on coordinate conversion matrix of the present invention
It is further described.
The Double earthquakes Synchronization Control that Fig. 1 is the present invention responds geometric layout figure.As shown in figure 1, placed on shake table
The distance between first acceleration transducer 1 and the second acceleration transducer 2 are 2r.First acceleration transducer 1 and second adds
Velocity sensor 2 is from being r with a distance from Double earthquakes geometric center 3.Be described below how by two vertically to it is linear plus
Tachometric survey is converted to the translational degree of freedom T and rotational freedom R of test specimen by input coordinate transition matrix.
For translation, the first acceleration transducer 1, the second acceleration transducer 2 need to move in same direction, can
To be calculated using mathematic(al) mean method, i.e.,：
Tcontrol=0.5A1+0.5A2..................................(1)
Wherein A1 represents the response of the first acceleration transducer；A2 represents the response of the second acceleration transducer；Tcontrol
Represent translational degree of freedom control magnitude.
For rotation, the first acceleration transducer 1, the second acceleration transducer 2 need the direction of motion on the contrary, can also
Calculated using mathematic(al) mean method, need to consider acceleration of gravity constant G's when linear acceleration is converted into rotary acceleration
Influence.I.e.：
Upper two formula is converted into matrix form, then had：
The expression of input coordinate transition matrix is as follows：
The Double earthquakes Synchronization Control that Fig. 2 is the present invention encourages geometric layout figure.As shown in Fig. 2 turn for output coordinate
Matrix is changed, linear incentive signal can be converted to by the free degree is exported with the method for observation.Assuming that the first shake table excitation 4, the
Two shake tables excitation 5 away from double distances for shaking platform geometric center 3 be r~.Using inputting transition matrix derivation method, it can be deduced that
The excitation free degree and the relation that linear incentive exports are as follows：
Wherein D1 represents the drive signal of the first shake table excitation 4；D2 represents the drive signal of the second shake table excitation 5；
TdriveRepresent translational degree of freedom driving magnitude；RdriveRepresent rotational freedom driving magnitude.
Therefore actual pumping signal to above formula matrix inversion by obtaining, i.e.,：
Finally draw output linearity pumping signal with encouraging the relation of the free degree as follows：
Output coordinate expression matrix is as follows：
Double earthquakes Synchronous motion control method based on coordinate conversion matrix comprises the following steps：
(1) input coordinate transition matrix is built.Specifically, building input coordinate transition matrix is included according on Double earthquakes
The distance between two control sensors determine input coordinate transition matrix (referring to formula 4) (as shown in Figure 3).Input coordinate turns
Change matrix act as by Double earthquakes control sensor linear measurement be converted to corresponding translation and rotate two freedom
Degree.
(2) output coordinate transition matrix is built.Specifically, building output coordinate transition matrix includes being swashed according to Double earthquakes
The distance between encourage and to determine output coordinate transition matrix (referring to formula 8) (as shown in Figure 4).The effect of output coordinate transition matrix
Signal for multi-input multi-output control system is exported is converted to the drive signal for being actually inputted to Double earthquakes power amplifier.
(3) two degree-of-freedom motion Synchronization Control.Specifically, two degree-of-freedom motion Synchronization Control controls for multiple-input and multiple-output
System first sends the white noise random signal of two-way low amounts level, and the white noise random signal is laggard by output coordinate transition matrix
Enter power amplifier and drive Double earthquakes to move；Input coordinate transition matrix is passed through in the response of two measurement points on Double earthquakes
Enter multi-input multi-output control system afterwards, control system calculates the transmission function of whole system according to input and output signal；
Subsequent translational degree of freedom reference test magnitude, rotational freedom reference test amount of the multi-input multi-output control system according to setting
(requirement of rotational freedom reference test magnitude tests the 10 of magnitude for translational degree of freedom to level-3Again below), system transter
Initial two-way output signal is calculated, the two-way output signal enters power amplifier and driven after output coordinate transition matrix
Dynamic Double earthquakes motion；Multi-input multi-output control system is according to the two degrees of freedom response level of measurement and translation and rotates two certainly
Simultaneously calculation error, the two-way drive signal that amendment is sent in real time, so as to realize double vibrations are compared by degree reference test magnitude
Platform motion Synchronization Control (as shown in Figure 5).
Although giving detailed description and explanation to the embodiment of the present invention above, it should be noted that
We can carry out various equivalent changes and modification to above-mentioned embodiment according to the conception of the present invention, and its caused function is made
, all should be within protection scope of the present invention during with the spirit still covered without departing from specification and accompanying drawing.
Claims (5)
1. a kind of Double earthquakes Synchronous motion control method based on coordinate conversion matrix, including following three step：
(1) input coordinate transition matrix is built, the structure input coordinate transition matrix step is included according on Double earthquakes two
The distance between individual control sensor determines input coordinate transition matrix, and input coordinate transition matrix is act as Double earthquakes
The linear measurement of upper control sensor is converted to corresponding translation and rotates two frees degree；
(2) output coordinate transition matrix is built, the structure output coordinate transition matrix step includes encouraging according to Double earthquakes
The distance between determine output coordinate transition matrix, output coordinate transition matrix act as multi-input multi-output control system
The signal of output is converted to the drive signal for being actually inputted to Double earthquakes power amplifier；
(3) two degree-of-freedom motion Synchronization Control, the two degree-of-freedom motion Synchronization Control step are specially multiple-input and multiple-output control
System processed first sends the white noise random signal of two-way low amounts level, and the white noise random signal is after output coordinate transition matrix
Ingoing power amplifier simultaneously drives Double earthquakes to move；The response of two measurement points is by input coordinate conversion square on Double earthquakes
Enter multi-input multi-output control system after battle array, control system calculates the transmission letter of whole system according to input and output signal
Number；Subsequent multi-input multi-output control system is according to the translational degree of freedom reference test magnitude of setting, rotational freedom with reference to examination
Test magnitude, system transter calculates initial two-way output signal, the two-way output signal is by output coordinate conversion square
Enter power amplifier after battle array and drive Double earthquakes to move；Multi-input multi-output control system rings according to the two degrees of freedom of measurement
Compared with answering magnitude and translation and rotating two degrees of freedom reference test magnitude and calculation error, the two-way that amendment is sent in real time drive
Dynamic signal, so as to realize that Double earthquakes move Synchronization Control.
2. the Double earthquakes Synchronous motion control method based on coordinate conversion matrix as claimed in claim 1, it is characterised in that
The input coordinate transition matrix and the output coordinate transition matrix are 2 × 2 square formation.
3. the Double earthquakes Synchronous motion control method based on coordinate conversion matrix as claimed in claim 1, it is characterised in that
Rotational freedom experiment magnitude requirement tests the 10 of magnitude for translational degree of freedom-3Below times.
4. the Double earthquakes Synchronous motion control method based on coordinate conversion matrix as claimed in claim 1, it is characterised in that
The input coordinate transition matrix is：
Wherein, G is acceleration of gravity constant, and the first acceleration transducer and second accelerate
It is 2r to spend the distance between sensor, and the first acceleration transducer and the second acceleration transducer are from Double earthquakes geometric center
Distance be r.
5. the Double earthquakes Synchronous motion control method based on coordinate conversion matrix as claimed in claim 1, it is characterised in that
The output coordinate transition matrix is：
Wherein, G is acceleration of gravity constant, the excitation of the first shake table, the excitation of the second shake table away from
It is double shake platform geometric center distance be
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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 | More and exciting movement controller and digit phase isochronous controller matching process |
| 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 | Three-axis six-degree-of-freedom vibration control input/output coordinate transformation matrix construction method |
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