CN105424171B - The real-time detection and guard method of a kind of carrier-borne stabilized platform mechanical resonant - Google Patents
The real-time detection and guard method of a kind of carrier-borne stabilized platform mechanical resonant Download PDFInfo
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- CN105424171B CN105424171B CN201510747256.3A CN201510747256A CN105424171B CN 105424171 B CN105424171 B CN 105424171B CN 201510747256 A CN201510747256 A CN 201510747256A CN 105424171 B CN105424171 B CN 105424171B
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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Abstract
The invention discloses the real-time detection and guard method of a kind of carrier-borne stabilized platform mechanical resonant, belong to AC servo mechanical resonant detection technique field.The present invention is to cause system unstability even mechanical structure damage because of mechanical resonant to solve the problems, such as that carrier-borne stabilized platform exists.According to the maximum amplitude θ of position signal during carrier-borne stabilized platform normal operationdmax, peak frequency ωdmaxAnd the minimum value ω of mechanical resonant frequencyrminAn infinite-duration impulse response digital high-pass filter is designed, determines to judge the magnitude threshold value of position signal after the filtering of mechanical resonant according to the wave filterThe position signal of carrier-borne stabilized platform is filtered online using the wave filter, according to the amplitude and threshold value of position signal after filteringRelation judge whether system occurs mechanical resonant, sent if mechanical resonant occurs alarm and halt system operation.The present invention is used for the real-time detection and protection of carrier-borne stabilized platform mechanical resonant.
Description
Technical field
The present invention relates to the real-time detection and guard method of carrier-borne stabilized platform mechanical resonant, belong to AC servo machine
Tool resonance oscillation detection technique field.
Background technology
Current carrier-borne stabilized platform, as motor and the transmission device of load, works as driving section generally using retarder or screw
Point rigidity it is low, when load inertia is big, the mechanical resonant frequency of stabilized platform will be relatively low, and at this moment stabilized platform is easier because passing
Move the elastic deformation of device and produce mechanical resonant.Mechanical resonant can not only influence the tracking accuracy of stabilized platform, when serious also
Mechanical part can be damaged, reduces its service life.In order to suppress or eliminate mechanical resonant, domestic and foreign scholars have carried out extensive and deep
Research, it is proposed that many solutions.Some are good to the inhibition of mechanical resonant based on the control algolithm of modern control theory,
But Project Realization is relatively difficult.The method for most commonly designing notch filter in engineering for resonant frequency point at present,
Generally by the way of debugging offline and parameter regulation process is complicated.
The existing research to carrier-borne stabilized platform mechanical resonant mainly considers how to suppress resonance, but mechanical resonant is one
A complicated dynamic process, the position of resonant frequency point and amplitude can be because of external environment, load inertia and system self-characteristics
Change and change, it is difficult to ensure that mechanical resonant does not occur in the process of running for stabilized platform.Therefore, when mechanical resonant is sent out
When raw, study its quick online detection and be particularly important with the method protected, mechanical part can be protected without prejudice, had
Important engineering application value.At present to the detection of mechanical resonant, it is humorous that increase can be generally comprised by way of improving hardware
Vibration sensor, motor side increase position sensor, load-side increase acceleration transducer the methods of, these methods not only can
Increase the difficulty of hardware design, and cost can be increased, be not easy to be widely popularized.The side that can also be programmed by software algorithm
Formula, the main method included based on Fast Fourier Transform (FFT), based on wavelet transformation and based on neutral net detection harmonic signal, this
A little methods can carry out the harmonic detecting of mechanical resonant, but there are algorithm it is complicated, computationally intensive the problem of, so in real-time
It is required that it is difficult to realize in high system.
The content of the invention
The present invention is to cause system unstability even mechanical structure because of mechanical resonant to solve carrier-borne stabilized platform presence
The problem of damage, there is provided the real-time detection and guard method of a kind of carrier-borne stabilized platform mechanical resonant.
The real-time detection and guard method of carrier-borne stabilized platform mechanical resonant of the present invention, it comprises the following steps：
Step 1：According to the maximum amplitude θ of position signal during carrier-borne stabilized platform normal operationd max, peak frequency
ωd maxAnd the minimum value ω of stabilized platform mechanical resonant frequencyr minDesign an infinite-duration impulse response Digital High Pass Filter
Device；
Step 2：Analysis is filtered to sinusoidal position signal with digital high-pass filter, determines to judge mechanical resonant
The magnitude threshold value of position signal after filtering
Step 3：The position signal of carrier-borne stabilized platform is filtered online with digital high-pass filter, according to filtering
The amplitude and threshold value of position signal afterwardsRelation whether judge system there occurs mechanical resonant, if mechanical resonant occurs into
Enter step 4, otherwise continue step 3；
Step 4：Mechanical resonant is sent to alarm and stop the operation of carrier-borne stabilized platform.
The advantage of the invention is that：The present invention, can be fast when inevitable mechanical resonant occurs for carrier-borne stabilized platform
Fast ground on-line checking is simultaneously protected, it is ensured that stabilized platform is without damage, improve carrier-borne stabilized platform security and can
By property.
Mechanical resonant frequency is not changeless in the process of running, it is difficult to its exact value is obtained, and it is of the invention
Only need to know the minimum value ω of system mechanics resonant frequency during digital high-pass filter is designedr min, this is in actual work
It is easier to realize in journey.
The present invention is only needed in the detection process of mechanical resonant to this state of the position signal of carrier-borne stabilized platform
Variable is analyzed and processed, and it is the necessary value of feedback of stabilized platform position control, so the hardware that need not change system is set
Meter；And designed digital high-pass filter is simple polynomial construction, algorithm is simply easily achieved, these are all easy to it
The extensive use on carrier-borne stabilized platform.
Brief description of the drawings
Fig. 1 is the real-time detection and guard method of the carrier-borne stabilized platform mechanical resonant described in embodiment one
Flow diagram.
Fig. 2 is the amplitude-versus-frequency curve of Butterworth digital high-pass filter.
It is 20 ° to amplitude that Fig. 3, which is, the front and rear curve of the position signal filtering that frequency is 0.25Hz.
It is 0.5 ° to amplitude that Fig. 4, which is, the front and rear curve of the position signal filtering that frequency is 2Hz.
Fig. 5 is k when mechanical resonant judgement is carried out to filtered position signal in Fig. 4nCurve.
Fig. 6 is the position signal curve for including different amplitude resonance signals.
Fig. 7 is the curve after being filtered to the position signal of Fig. 6.
Fig. 8 is k when mechanical resonant judgement is carried out to filtered position signal in Fig. 7nCurve.
Embodiment
Embodiment one：Real-time detection and the protection side of carrier-borne stabilized platform mechanical resonant described in present embodiment
Method, it comprises the following steps：
Step 1：According to the maximum amplitude θ of position signal during carrier-borne stabilized platform normal operationd max, peak frequency
ωd maxAnd the minimum value ω of the mechanical resonant frequency of stabilized platformr minDesign an infinite-duration impulse response Digital High Pass Filter
Device；
Step 2：Analysis is filtered to sinusoidal position signal with digital high-pass filter, determines to judge mechanical resonant
The magnitude threshold value of position signal after filtering
Step 3：The position signal of carrier-borne stabilized platform is filtered online with digital high-pass filter, according to filtering
The amplitude and threshold value of position signal afterwardsRelation whether judge system there occurs mechanical resonant, if mechanical resonant occurs into
Enter step 4, otherwise continue step 3；
Step 4：Mechanical resonant is sent to alarm and stop the operation of carrier-borne stabilized platform.
Embodiment two：Present embodiment is to carrier-borne stabilized platform mechanical resonant described in embodiment one
Real-time detection and guard method further explanation, in present embodiment, normally transported according to carrier-borne stabilized platform in step 1
The maximum amplitude θ of position signal during rowd max, peak frequency ωd maxAnd the mechanical resonant frequency ω of stabilized platformr minDesign
The process of one infinite-duration impulse response digital high-pass filter is：
Since the hull wig-wag signal of carrier-borne stabilized platform tracking is the position signal of low frequency, so generally there is ωd max≤
ωr min.The digital high-pass filter of design should make low frequency position signalling during platform normal operation significantly decay, and machinery occurs
The amplitude attenuation of high frequency position signal during resonance is smaller, specific to meet following require：
Wherein
In above formulaAnd kd minRespectively 0≤ω≤ωd maxWhen the filtered maximum amplitude of position signal and wave filter
Minimal attenuation multiple, kg maxFor ω >=ωr minWhen wave filter maximum attenuation multiple, θg minTo judge the filtering of mechanical resonant
The magnitude threshold value of front position signal, generally determines, its value is smaller, and mechanical resonant is sentenced according to the needs of real system
It is disconnected sensitiveer, but the wave filter that design meets condition is more difficult to,For ω >=ωr minWhen amplitude be θg minPosition signal
Filtered amplitude minimum value.
Typical infinite impulse response digital filter includes Butterworth filter, Chebyshev filter and oval filter
Ripple device etc..The characteristics of Butterworth filter is that the amplitude-frequency response in passband is flat to greatest extent, and in stopband then
Be gradually reduced is zero；The characteristics of Chebyshev filter is that amplitude-frequency response is to wait ripple in passband, it is in intermediate zone internal ratio
The decay of Butterworth filter is fast, and the error between the frequency response curve of ideal filter is minimum；Ellipse filtering
The characteristics of device is that amplitude-frequency response such as is all in passband and stopband at the ripple, for given exponent number and ripple requirements, ellipse filter
Ripple device can obtain the narrower transition band width of more other wave filters.According to the requirement of formula (1), the amplitude-frequency response of digital high-pass filter
To be easier to determine k during monotonic increased minAnd kg maxValue, it is not desired that the amplitude-frequency response of filter is in passband
Or have ripple in stopband, therefore Butterworth digital filter is used in the present invention.
Design Butterworth digital high-pass filter the step of be：1) determine that Butterworth is simulated according to the requirement of formula (1)
The technical indicator of wave filter, mainly includes cut-off frequecy of passband ωc, stopband cutoff frequency ωs, passband maximum attenuation αc, stopband most
Small attenuation alphas；2) the minimal order N and fixed frequency ω of Butterworth filter are determined according to four technical indicators on 2n；3) it is sharp
Simulation Butterworth low pass ripple prototype is produced with minimal order N；4) natural frequency ω is utilizednSimulation low-pass filter prototype
It is converted into mimic high pass filter；5) analog filter is converted into numeral using Impulse invariance procedure or bilinearity not political reform
Wave filter.The transmission function of designed Butterworth digital high-pass filter is：
N is the exponent number of the limit number, i.e. wave filter of Butterworth filter transmission function in formula；M passes for filter system
The zero point number of delivery function；akAnd bkFor filter factor.Its difference equation in digital display circuit is expressed as：
Wherein, y (n),Respectively filter preceding and filtered time-domain signal sequence.
The present embodiment needs to consider digital signal processor floating-point during mimic high pass filter is digitized
The precision of number computing.
Embodiment three：Present embodiment is to carrier-borne stabilized platform mechanical resonant described in embodiment one
Real-time detection and guard method further explanation, in present embodiment, with digital high-pass filter to sine in step 2
Position signal is filtered analysis, the magnitude threshold value of position signal after the definite filtering for judging mechanical resonantProcess be：
Threshold valueIt should meet relational expressionDefined parametersThen according to formula (1)
It can obtain
When the amplitude of filtering front position signal is θg min, frequency ωr minWhen, filtered position signal isThe cycle of the signal isWhenWhen
So amplitude is more than in a cycleTime beThen amplitude is more than in a cycle's
Ratio shared by time is：
TakeThen had according to formula (6)I.e.
Embodiment four：Present embodiment is to carrier-borne stabilized platform mechanical resonant described in embodiment one
Real-time detection and guard method further explanation, in present embodiment, according to the width of position signal after filtering in step 3
Value and threshold valueRelation judge system whether there occurs the process of mechanical resonant be：
The position signal of carrier-borne stabilized platform is filtered online with digital high-pass filter, position signal after filtering
Amplitude be more than threshold valueWhen start recording behind n data point, calculate after the completion of record and be more than in this n data point
Point number n*IfBeing considered as system, there occurs mechanical resonant.Carrier-borne stabilized platform position can so be excluded
The influence of outlier or other random perturbations in signal.N reflects the cycle for judging mechanical resonant in algorithm, also with position signal
Sample frequency is related.According to the calculating process in embodiment three, knValue with filtering front signal amplitude increasing
Increase greatly, it is possible to judge to filter preceding θ >=θg min, ω >=ωr minMechanical resonant signal.
Embodiment：
The above method is applied in actual carrier-borne stabilized platform, the maximum amplitude θ of the stabilized platform normal operationd max
For 20 °, peak frequency ωd maxFor 0.25Hz, mechanical resonant frequency ωr>=2Hz, so ωr min=2Hz.The number of position signal
It is F according to sample frequencys=1kHz, the Floating-point Computation precision of digital signal processor is 10-6, θ is taken hereg minFor 0.5 °, that is, need
Judge the mechanical resonant signal that amplitude is more than 0.5 °.To meet the requirement of formula (1) when designing Butterworth filter
Take following performance indicator parameter：
ωc=1Hz, ωs=2Hz, αc=0.5dB, αs=4dB
The exponent number of obtained Butterworth digital high-pass filter is 3, its filter factor is as follows：
a1=-1.983974, a2=0.984101, b0=0.992019, b1=-1.984037, b2=0.992019
Its amplitude-versus-frequency curve is as shown in Fig. 2, it can be seen that designed Butterworth digital high-pass filter from figure
Amplitude-frequency response be all monotonic increase in passband, stopband and intermediate zone.Its position signal to different frequency is filtered
Decay multiplying power k be shown in Table 1.
Decay multiplying power when table 1 is filtered the position signal of different frequency
| ω(Hz) | 0.1 | 0.25 | 0.5 | 1.0 | 1.5 | 2.0 | 2.5 | 3.0 | 3.5 | 4.0 |
| k | 203.2 | 87.9 | 14.5 | 3.49 | 1.77 | 1.30 | 1.13 | 1.07 | 1.04 | 1.02 |
K is understood by table 1 and Fig. 2d min=87.9 and kg max=1.3, it can obtain It is 20 ° that Fig. 3, which is given to amplitude, and frequency is the emulation that the position signal of 0.25Hz is filtered
As a result.It is 0.5 ° that Fig. 4, which is given to amplitude, the front and rear curve of the position signal filtering that frequency is 2Hz, it can be seen that designed
Wave filter obviously disclosure satisfy that the requirement of formula (1).
Position signal magnitude threshold value is after judging the filtering of mechanical resonant：
Judge that the cycle of mechanical resonant is taken as 2s in the present embodiment, since sample frequency is Fs=1kHz, so sampled point n
It is k when mechanical resonant judgement is carried out to filtered signal in Fig. 4 for 2000, Fig. 5nCurve, for ensure filtered signal into
Enter stable state, judge since 2s.It can be seen that at this time from figureDemonstrate and calculated in embodiment three
Correctness.Table 2 is given to ω >=2Hz, and k during mechanical resonant judgement is carried out after the position signal filtering of θ >=0.5 °nValue.
K table 2 is to carrying out mechanical resonant judgement after the signal filtering of different frequency and amplitude whennValue
K when θ is constant as can be seen from the tablenIncrease with the increase of ω, k when ω is constantnIncrease with the increase of θ,
So work as ω >=2Hz, during θ >=0.5 °, its corresponding knValue be both greater than 0.5, meet the condition for judging mechanical resonant.
Fig. 6~Fig. 8, which gives, carries out the position signal comprising different amplitude vibration signals using designed wave filter
The simulation result of filtering.
Fig. 6 is the position signal before filtering, its expression formula is as follows：
Wherein first half is 10 ° of amplitude, and the sinusoidal signal of frequency 0.1Hz, simulates carrier-borne stabilized platform normal operation
Situation.Latter half is the resonance signal that different amplitude frequencies are 2Hz, for analysis filter to different frequency resonance signal
Filter effect.
Fig. 7 is filtered position signal, it can be seen that when occurring the resonance signal that amplitude is more than 0.5 ° after 20s, filter
There is the fluctuation of higher magnitude in position signal after ripple.
Fig. 8 carries out filtered signal in Fig. 7 k during mechanical resonant judgementnCurve, it can be seen that designed algorithm
ω >=the 2Hz that can occur when carrier-borne stabilized platform is run, the mechanical resonant signal of θ >=0.5 ° make accurate judgement.
Claims (4)
1. the real-time detection and guard method of carrier-borne stabilized platform mechanical resonant, it is characterised in that
Step 1：According to the maximum amplitude θ of position signal during carrier-borne stabilized platform normal operationdmax, peak frequency ωdmaxAnd
The minimum value ω of stabilized platform mechanical resonant frequencyrminDesign an infinite-duration impulse response digital high-pass filter；
Step 2：Analysis is filtered to sinusoidal position signal with digital high-pass filter, determines to judge the filtering of mechanical resonant
The magnitude threshold value of position signal afterwards
Step 3：The position signal of carrier-borne stabilized platform is filtered online with digital high-pass filter, according to position after filtering
The amplitude and threshold value of confidence numberRelation judge that system whether there occurs mechanical resonant, enters step if mechanical resonant occurs
Rapid four, otherwise continue step 3；
Step 4：Mechanical resonant is sent to alarm and stop the operation of carrier-borne stabilized platform.
2. the real-time detection and guard method of carrier-borne stabilized platform mechanical resonant according to claim 1, it is characterised in that：
According to the maximum amplitude θ of position signal during carrier-borne stabilized platform normal operation in step 1dmax, peak frequency ωdmaxAnd
The mechanical resonant frequency ω of stabilized platformrminDesign one infinite-duration impulse response digital high-pass filter process be：
The digital high-pass filter of design should meet to require as follows：
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Small attenuation multiple, kgmaxFor ω >=ωrminWhen wave filter maximum attenuation multiple, θgminTo judge mechanical resonant position width before filtering
The threshold value of value,For ω >=ωrminWhen amplitude be θgminThe filtered amplitude minimum value of signal, according to the requirement of formula (1)
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αc, minimum attenuation in stop band αs, four technical indicator design infinite-duration impulse response digital high-pass filters more than.
3. the real-time detection and guard method of carrier-borne stabilized platform mechanical resonant according to claim 2, it is characterised in that：
Analysis is filtered to sinusoidal position signal with digital high-pass filter in step 2, determines to judge the filtering of mechanical resonant
The magnitude threshold value of position signal afterwardsProcess be：Threshold valueIt should meet relational expressionDefinition
ParameterThen combineThe digital high-pass filter design requirement of definition can obtain
When the amplitude of filtering front position signal is θgmin, frequency ωrminWhen filtered signal beThe signal
Cycle isWhenWhenSo amplitude is more than in a cycleTime be：
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4. the real-time detection and guard method of carrier-borne stabilized platform mechanical resonant according to claim 3, it is characterised in that：
According to the amplitude and threshold value of position signal after filtering in step 3Relation judge system whether there occurs machinery it is humorous
The process shaken is：The position signal of carrier-borne stabilized platform is filtered online with digital high-pass filter, position after filtering
The amplitude of signal is more than threshold valueWhen start recording behind n data point, calculate after the completion of record big in this n data point
InPoint number n*IfIt is considered as system there occurs mechanical resonant, wherein n to reflect judgement mechanical resonant
Cycle, it is related also with the sample frequency of position signal.
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