CN105651473A - Method for automatic determination of dynamic stiffness of object - Google Patents
Method for automatic determination of dynamic stiffness of object Download PDFInfo
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- CN105651473A CN105651473A CN201510872808.3A CN201510872808A CN105651473A CN 105651473 A CN105651473 A CN 105651473A CN 201510872808 A CN201510872808 A CN 201510872808A CN 105651473 A CN105651473 A CN 105651473A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000005284 excitation Effects 0.000 claims abstract description 34
- 238000004519 manufacturing process Methods 0.000 claims abstract description 22
- 238000005259 measurement Methods 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000004458 analytical method Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 description 9
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000005476 soldering Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009021 linear effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
Classifications
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0066—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by exciting or detecting vibration or acceleration
Abstract
The invention relates to a method for determining the dynamic rigidity of an object (1), comprising the steps of a) positioning the object (1) on a vibration decoupling device (2), b) positioning a plurality of sensor means (3), each of which is configured for detecting at least one kinematic measured variable, to the object (1) and / or in the vicinity of the object (1), c) positioning at least one vibration excitation means in the vicinity of the object (1), d) exciting the object (1) with the at least a vibration excitation means (4), e) detecting the magnitude of the excitation of the object (1) in step d) and detecting the kinematic measured variables of the sensor means (3), and f) determining the dynamic stiffness of the object (1) according to the magnitude of the excitation of the object (1) detected in the step e) and the kinematic variables of the sensor means (3). The method is carried out automatically during production process of the object (1) or after the completion of the production process.
Description
Technical field
The present invention relates to a kind of method of dynamic stiffness for determining object.
Background technology
The rigidity of object is the tolerance of respective objects opposing by the elasticity distortion caused by external force or external torque effect generally. Rigidity directly depends on the elasticity of the material manufacturing object at this and depends on the geometrical shape of object in addition. Depend on the type of the outer section load acting on object, divide into axial stiffness, torsional stiffness and flexible rigidity.
Rigidity is such as extremely important in the manufacture of automobile. Such as, the torsional stiffness of automobile body and flexible rigidity have impact on comfort level and the quality impression of Motor vehicles to a great extent. The cornering ability of Motor vehicles is also had sizable impact by torsional stiffness. In addition, the high rigidity levels of automobile body causes the improvement of the de-coupling of the little relative movement of vehicle chassis component that elasticity connects and assembly supporting (Aggregatlagerungen) attachment part. As a result, the solid-borne noise being input in vehicle body and the noise level therefore significantly reducing the noise level in vehicle and being even significantly reduced on uneven travel can significantly be reduced.
For the comfort level of Motor vehicles and quality impression, the position of dynamic stiffness or eigenfrequency has major significance. Dynamic stiffness cannot directly be measured, but using the position of proportional the first natural frequency depending on dynamic stiffness as a tolerance relatively. Eigenfrequency is mainly displaced to highest possible frequency by another object in the node configuration of Motor vehicles, making in the common drive routine pattern of Motor vehicles, described eigenfrequency significantly less occurs than the relatively low frequency on typical excitation frequency. In addition, the generation of the eigenfrequency in typical excitation frequency scope is caused when should avoid as far as possible such as travelling on uneven road.
Static twist rigidity and flexible rigidity are the spring constants from machinery viewpoint. The torque that torsional stiffness is defined as causing object to reverse is with by the business of the torsion(al)angle caused by the effect of torque. Young's modulus that torsional stiffness depends on the material manufacturing object, the geometrical shape depending on object and the distance that depends between rotation. The flexible rigidity of object is defined as causing bending power and the business of maximum deflection. In corresponding pliability test, by the object of examine as far as possible friction ground and with the de-coupling of surrounding environment be arranged at least two supporting devices being spaced apart from each other. Subsequently, the power that object is bending will be caused to be applied on object. It is apparent that, the distance that the flexible rigidity of Young's modulus manufacturing the material of object depends on the geometrical shape of object and depends between supporting device. In addition, loadtype affects the flexible rigidity of object. Such as, object is loaded the load between these supporting devices of the single power at center that acts between two supporting devices or the single power acting on deviation center or linear action or area load, and this is differentiated.
In order to determine the dynamic flexible rigidity of object, from the corresponding method being mentioned type at introductory song known in the state of the art.In this context, first object to be studied takes off coupling with surrounding environment in vibrotechnique and uses at least one vibration driven element to produce vibration. Sensor device is used to detect these vibrations at the different positions of object. The vibration of excitation variable and object is assessed by the mode by means of suitable mathematics method, based on computer with regard to vibrational frequency, therefore to determine the resonant frequency of object and therefore to determine the tolerance of the dynamic stiffness of this object.
DE102010012781A1 discloses the device of a kind of vehicle body distortion for determining to have the vehicle of multiple actuator, these actuators give vehicle torque via the wheel of vehicle, wherein each wheel of vehicle is provided an actuator, and, this device is with a fastening device and has at least one sensor, by vehicle body pressing or it is pulled to the respective heights actuator by this fastening device, can the distortion of vehicle body of measuring vehicle based on this at least one sensor. In addition, this document discloses the device of the distortion of a kind of vehicle body for determining vehicle.
DE102010013061A1 describes a kind of flexible test platform influenced each other for studying between vehicle body and parts to be tested. The vehicle body of vehicle is modeled as the trapezoidal vehicle frame with adjustable and/or interchangeable transverse member and adjustable and/or interchangeable element at this, its result is flexure and the torsional stiffness of the characteristic variable that can adjust vehicle body, particularly its Static and dynamic.
Empirically, the measurement of object dynamic stiffness and the analysis of measuring result and explanation are relatively costly, and it is thus desirable to the expertise of height.
Summary of the invention
The present invention based on object be so that mention that at introductory song place the method for the object dynamic stiffness of type is available for determining, and the method can especially easily be implemented.
This object mentions that the method for type realizes by means of at introductory song place. Further protection scheme relates to multiple Advantageous developments of the present invention.
The method of the dynamic stiffness for determining object according to the present invention comprises the following steps:
A) by this object localization on vibration decoupling device,
B) by multiple sensor device location on the object and/or at this its near vicinity, these sensor devices are configured for detecting at least one motion measurement variable separately,
C) by least one vibration excitation device location on the object and/or at this its near vicinity, or the device for vibrating excitation a) is used.
D) this object is encouraged with this at least one vibration excitation device,
E) detect this object in steps d) in the amplitude of excitation and detect the motion measurement variable of these sensor devices,
F) based in step e) in the amplitude of excitation of this object of detection and the motion measurement variable of these sensor devices resonant frequency is defined as the tolerance of resonant frequency of dynamic stiffness of this object.
The unusual part of the method according to the present invention is, the method in the production process of this object or production process terminate after carry out in an automatic fashion. It is conducive to performing to measure the assessment with measuring result or explanation, and is suitable for such as determining in process of production or the vehicle body of Motor vehicles or the dynamic stiffness of its part after production process terminates. The advantage that method according to the present invention provides is, in this context, it is possible to monitor the process that rigidity is relevant continuously, such as, weld, bonding, soldering etc.Further Application Areas is, the dynamic stiffness research of such as Flight Vehicle Structure, marine ship or spacecraft or its part. In the method that this proposes, it is possible to by so as to carrying out stroke measurment, contact that velocity survey or acceleration are measured or even contactless measurement be suitable for detection vibration. Especially, it is possible to use laser measurement device or acceleration sensor apparatus. In the production process of object or at the end of production process, automatically perform the method advantageously permit continuous print quality control. Therefore can detecting more rapidly and revise may originating of fault accordingly, its result to improve manufacture quality.
In a preferred embodiment, it is proposed that in the production process carried out, by means of at least one positioning devices (especially by means of at least one robot device) by object localization on vibration decoupling device. As a result, object accurately automatically locating on vibration decoupling device turns into possibility.
After determining dynamic stiffness, object can preferably remove from vibration decoupling device by means of at least one positioning devices (especially by means of at least one robot device). At this, positioning devices can be for by the positioning devices of object localization on vibration decoupling device.
In an advantageous embodiment, it is possible to by means of at least one positioning devices (especially by means of at least one robot device), sensor device is positioned on object or at this its near vicinity. As a result, accurately automatically locating of sensor device turns into possibility. Therefore, it can be advantageous to avoid the location manually readjusting sensor device. In addition, therefore the accurate location of Measuring Object is also walked around. After performing to measure, it is possible to again by means of this at least one positioning devices, sensor device is removed.
In a particularly advantageous embodiment, it is provided that, by means of at least one positioning devices (especially by means of at least one robot device), at least one vibration excitation device is positioned at this its near vicinity. As a result, the accurately automatically location of this at least one vibration excitation device turns into possibility, it can be advantageous to position and without the need to other artificial adjustment work.
In a preferred embodiment, it is possible in range of frequency, assess the vibration of the amplitude of the excitation of object and object and represent to form transport function with ratio each other. Preferably by means of fourier analysis or assess by means of fast Fourier analysis. As a result, defining transport function between the acceleration measured by the external force producing to vibrate and object, this acceleration is that object is to the structural response of outside vibration excitation. This transport function makes it possible to obtain in frequency space as the mathematical relation between the external force of stimulator variable and the acceleration of object. The minimum value of transport function and the position of maximum value give the instruction of the eigenfrequency form (vibration modes) being called as object. The discrete frequency of resonant vibration mode generation place is the dynamic stiffness tolerance of object.
In an especially favourable embodiment, the position proposing the first maximum value in the frequency response is set to setting point frequency separation f1 �� �� f, and checks whether the actual frequency through measuring of this first maximum value is within this setting point frequency separation f1 �� �� f by means of automatic setting point with comparing of actual value. If the actual frequency through measuring of the first maximum value is within setting point frequency separation f1 �� �� f, then object tool dynamic flexible rigidity in need or torsional stiffness.Outside if actual frequency is in setting point frequency separation f1 �� �� f and therefore higher or lower, then the dynamic flexible rigidity of object is undesirable. Only the assessment of a frequency is desirably reduced calculating and survey fee use.
The vibration excitation device used can be preferably at least one air-borne sound generating unit (particularly loud speaker) or a solid-borne noise generating unit (particularly impacting device or vibration excitation device that is electronic or hydrodynamic force) or pass through this de-coupling device of modulation.
Accompanying drawing explanation
With reference to accompanying drawing, based on the following description of preferred illustrative embodiment, the further feature and advantage of the present invention will become clear, in the accompanying drawings:
Fig. 1 shows the schematic presentation of the rod-like articles body that can external force be applied thereto, and for the measurement arrangement of the dynamic flexible rigidity of determining object, for determining the schema of the method for the dynamic flexible rigidity of object.
Fig. 2 shows the functional sequence figure of the method for the dynamic flexible rigidity for determining object.
Embodiment
Hereinafter with reference to Fig. 1 and Fig. 2, it is used for the order determining the method for the dynamic stiffness of object 1 and the measurement arrangement being suitable for implementing this kind of method by explaining more in detail.
In first step 100, to be studied and resemble, for simplification tool, the object 1 that illustrated reason is rod-like articles body at this and be positioned on vibration decoupling device 2. Vibration decoupling device 2 comprises two supporting devices 20,21 with vibration damping device (especially pneumatic cushioning) at this. Object 1 is positioned on supporting device 20,21 and therefore takes off coupling with surrounding environment in vibrotechnique. The location of object 1 on vibration decoupling device 2 carries out in an automatic fashion, especially by means of the positioning devices 5 that can be such as robot device.
In the 2nd step 200, multiple sensor device 3 is positioned on object 1 or near object 1, these sensor devices are configured separately for detecting at least one motion measurement variable (stroke, speed or acceleration). The location of sensor device 3 carries out equally in an automatic fashion, it is preferred to use can be one or more positioning devices 6 of robot device equally. Can be suitable for detecting by the contact or contactless measurement so as to implementing stroke measurment, velocity survey or acceleration measurement the vibration of the object 1 caused by least one vibration excitation device 4. Accordingly, sensor device 3 is configured for detecting at least one motion measurement variable (stroke, speed or acceleration). Sensor device 3 such as can be embodied as laser measurement device or acceleration detecting accordingly.
In third step 300, it is possible at least one vibration excitation device 4 being carried out vibrating so as to excitation object 1 is positioned near object 1 by automated manner, use positioning devices 7 (especially by means of robot device). The vibration excitation device 4 used can be such as the loud speaker for generation of air-borne sound. Alternatively, the vibration excitation device 4 used can also be the impact device for generation of solid-borne noise or vibration excitation device that is electronic or hydrodynamic force.
These positioning devices 5,6,7 are controlled in an automatic fashion by means of control device 9.
In step 400 subsequently (incentive step), object 1 is energized by means of at least one vibration excitation device 4 and vibrates.
In step 500 subsequently, detect and have recorded the amplitude of the excitation that object 1 occurs in preceding paragraph step 400 and the motion measurement variable of sensor device 3.
In step 600 subsequently, suitable mathematical evaluation method (especially use fourier analysis or use fast Fourier analysis) is used the amplitude of the excitation of object 1 and vibration to be assessed by means of assessment device 8 in range of frequency and mathematically represent with ratio (that is, being divided by) each other. Obtain transport function in this way. The maximum value of transport function or minimum value provide the instruction of the intrinsic form (vibration modes) being called as object 1. The discrete vibrational frequency of intrinsic form generation place is the tolerance of the dynamic stiffness of object 1.
The position of the first maximum value in the frequency response (obtained based on this position object 1 dynamic stiffness have effective information) be set to the first rated frequency value f1, wherein, define fluctuation range �� f to consider not critical frequency jitter. Make measured frequency stand rated value-actual value in an automatic fashion by means of assessment device 8 to compare. If the measured actual frequency of the first maximum value is within the interval f1 �� �� f of rated frequency, then object 1 has the dynamic flexible rigidity of expection. If outside actual frequency is in the interval f1 �� �� f of rated frequency, then the dynamic flexible rigidity of object 1 is undesirable.
Present method carries out in an automatic fashion in the production process of object 1. Such as, present method can be used in the production just carried out of the vehicle body of Motor vehicles or the bodywork parts of Motor vehicles. The advantage that its provides is, in this context, it is possible to monitor the process that rigidity is relevant continuously, such as, weld, bonding, soldering etc. Further Application Areas is, the dynamic stiffness research of such as Flight Vehicle Structure, marine ship or spacecraft or its part.
The method proposed at this such as can carry out at the end of the production process of object 1. Alternatively, present method can also carry out as a kind of quality monitoring method at the one or more manufacturing processed station place in the manufacturing processed just carried out. Therefore can early detection may originate to fault in process of production.
Claims (9)
1., for determining a method for the dynamic stiffness of object (1), the method comprises the following steps:
A) this object (1) is positioned on vibration decoupling device (2),
B) multiple sensor device (3) being positioned on this object (1) and/or near this object (1), these sensor devices are configured for detecting at least one motion measurement variable separately,
C) at least one vibration excitation device is positioned near this object (1),
D) this object (1) is encouraged with this at least one vibration excitation device (4),
E) detect this object (1) in steps d) in the amplitude of excitation and detect the motion measurement variable of these sensor devices (3),
F) based in step e) in the amplitude of excitation of this object (1) of detection and the motion measurement variable of these sensor devices (3) determine the dynamic stiffness of this object (1),
It is characterized in that, the method in the production process of this object (1) or production process terminate after carry out in an automatic fashion.
2. the method for claim 1, it is characterised in that, this object (1) is positioned on this vibration decoupling device (2) by means of at least one positioning devices (5).
3. method as described in one of claim 1 or 2, it is characterised in that, this object (1) removes from this vibration decoupling device (2) by means of at least one positioning devices (5) after determining dynamic stiffness.
4. method as described in one of claims 1 to 3, it is characterised in that, it is upper or near this object (1) that these sensor devices (3) are positioned in this object (1) by means of at least one positioning devices (6).
5. method as described in one of Claims 1-4, it is characterised in that, this at least one vibration excitation device (4) is positioned near this object (1) by means of at least one positioning devices (7).
6. method as described in one of claim 1 to 5, it is characterised in that, in range of frequency, assess the amplitude of the excitation of this object (1) and the vibration of this object (1) and with its ratio each other to form transport function.
7. method as claimed in claim 6, it is characterised in that, the vibration of this object (1) is assessed in range of frequency by means of fourier analysis or by means of fast Fourier analysis.
8. method as described in one of claim 1 to 7, it is characterized in that, the position of the first maximum value in the frequency response is set to the interval f1 �� �� f of a rated frequency, and relatively checks whether the actual frequency measured by this first maximum value is within the interval f1 �� �� f of this rated frequency by means of automatic rated value-actual value.
9. method as described in one of claim 1 to 8, it is characterised in that, at least one air-borne sound generating unit or a solid-borne noise generating unit are used as this vibration excitation device (4).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014117650.2A DE102014117650B4 (en) | 2014-12-02 | 2014-12-02 | Process for the automated determination of a dynamic stiffness of an object |
| DE102014117650.2 | 2014-12-02 |
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| CN105651473A true CN105651473A (en) | 2016-06-08 |
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| CN201510872808.3A Pending CN105651473A (en) | 2014-12-02 | 2015-12-02 | Method for automatic determination of dynamic stiffness of object |
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| DE (1) | DE102014117650B4 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950018A (en) * | 2017-02-08 | 2017-07-14 | 上海工程技术大学 | A kind of Flexible element dynamic rate measuring method and device |
| CN114264440A (en) * | 2021-11-17 | 2022-04-01 | 南京邮电大学 | Variable-rigidity flexible touch sensor system and control method thereof |
| GB2588098B (en) * | 2019-10-04 | 2024-04-24 | Niba Solutions Ltd | Flexibility assessment |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017207979B4 (en) * | 2017-05-11 | 2022-05-25 | Hiwin Technologies Corp. | Method of estimating a deviation of a preload applied to a linear guideway |
| DE102017112776B4 (en) * | 2017-06-09 | 2022-07-07 | Bundesrepublik Deutschland, Vertreten Durch Den Bundesminister Für Wirtschaft Und Energie, Dieser Vertreten Durch Den Präsidenten Der Bundesanstalt Für Materialforschung Und -Prüfung (Bam) | Method and device for dynamic stress testing |
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| JPH03289561A (en) * | 1990-04-06 | 1991-12-19 | Iwatsu Electric Co Ltd | Method and apparatus for detecting defect and part of different hardness |
| DE4240600C1 (en) * | 1992-12-03 | 1994-06-09 | Deutsche Aerospace | Structural defect detection system for aircraft - uses modal analysis via detected oscillation of aircraft structure and comparison with aircraft model |
| US6564156B2 (en) * | 2001-03-13 | 2003-05-13 | Ford Global Technologies, Inc. | Method for determining joint stiffness degradation |
| JP4875589B2 (en) * | 2007-11-01 | 2012-02-15 | 本田技研工業株式会社 | Panel inspection apparatus and inspection method |
| DE102007060278A1 (en) * | 2007-12-12 | 2009-06-18 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Apparatus and method for the quality inspection of sheet metal parts |
| JP2010249800A (en) | 2009-03-25 | 2010-11-04 | Aisan Ind Co Ltd | Resolver |
| DE102010013061A1 (en) | 2010-03-26 | 2011-09-29 | Makross Partg. | Flexible test stand for testing mechanical interactions between e.g. hard-and soft-top roofs, for car, has body recreated by setting device lead frames influencing flexible lead frames with cross members and bending-and torsional stiffness |
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2014
- 2014-12-02 DE DE102014117650.2A patent/DE102014117650B4/en active Active
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- 2015-12-02 CN CN201510872808.3A patent/CN105651473A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950018A (en) * | 2017-02-08 | 2017-07-14 | 上海工程技术大学 | A kind of Flexible element dynamic rate measuring method and device |
| CN106950018B (en) * | 2017-02-08 | 2019-06-28 | 上海工程技术大学 | A kind of Flexible element dynamic rate measurement method and device |
| GB2588098B (en) * | 2019-10-04 | 2024-04-24 | Niba Solutions Ltd | Flexibility assessment |
| CN114264440A (en) * | 2021-11-17 | 2022-04-01 | 南京邮电大学 | Variable-rigidity flexible touch sensor system and control method thereof |
| CN114264440B (en) * | 2021-11-17 | 2024-04-16 | 南京邮电大学 | Variable-rigidity flexible touch sensor system and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102014117650A1 (en) | 2016-06-02 |
| DE102014117650B4 (en) | 2020-12-31 |
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Application publication date: 20160608 |