CN105867115B - A kind of non-stationary random vibration experimental control method - Google Patents
A kind of non-stationary random vibration experimental control method Download PDFInfo
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Abstract
The invention discloses a kind of non-stationary random vibration experimental control methods, include the following steps：Test parameters is set；Non-stationary random reference signal is set；System self-test；Transmission function recognizes；The vibration control of uniaxial loop cycle：Following steps are respectively completed within the single frame time period：Calculate normalization control power spectrum；Corrected Calculation obtains normalization driving spectrum；Spectrum is driven to carry out phase randomization to normalization to convert, and carry out frame and overlap to obtain true random signal with IFFT；Update is calculated to obtain currently driving root-mean-square gain；Root-mean-square gain will be driven to be multiplied with the driving frame data after overlap joint, the drive output signal of present frame is calculated.It is controlled compared to traditional random vibration test, the spectrum shape that non-stationary random vibration satisfaction can not only be obtained by the present invention controls, and nonstationary random signal root mean square can also be stablized and controllably change according to time graph, realize that non-stationary random vibration controlling test is effective and feasible using this control method.
Description
Technical field
The present invention relates to one kind with electronic or hydraulic vibration gen (with product), excitation system and vibrator object in order to control
Non-stationary random vibration experimental control method is particularly suitable for simulating delivery vehicle (including ground, aerial and marine delivery
Tool) for the purpose of non-stationary random vibration environment under unstable period, and the product functionality and Reliability Check carried out
Vibration test control aspect, belongs to automatic control technology field.
Background technology
Random vibration test is to examine product reliability, exposed structure material and defective workmanship, analyzes mechanical vibration performance
Necessary measure is an important means for solving various mechanically and structurally vibration problems；Random vibration test is also military
One of essential project of facility environment experiment, huge effect has been played to the examination of product；In addition, random vibration test is also
The necessary means of all kinds of vibration operating mode scenes are simulated, most of vibration environments are all random vibrations, as vehicle, locomotive and high ferro are transported
It is defeated, many occasions such as airborne, carrier-borne vibration environment and weapon vibration environmental.
Random vibration is divided by its statistical property as steady and two class of non-stationary random vibration.Traditional random vibration test
All it is to use the stationary random vibration with gauss of distribution function, ergodic characteristic.For non-stationary random vibration environment
Simulation, traditional way are to take statistics and spectrum envelope adds tight method by non-stationary random vibration Approximate Equivalent to be steady random
Vibration come carry out experiment, be a kind of approximate simulation to vibration environment, for test specimen certain test types (such as environment adapt to
Property experiment or long duration test), this method is feasible.But for functional or Reliability Check Test, this will be caused to true
Real environment simulation differs greatly and influences test effect, and difficulty is brought to the functionality and reliability of assessing product.With number
Word control technology continues to develop and people go deep into random vibration test understanding, the most of carrier environments being subjected to for weapon
All there are non-stationary random vibration, such as fighter plane is grappled, and automobile is exercised on uneven road surface, and naval vessels are navigated by water in deep-sea condition,
Flight course of weapon etc..With regard to it for the destruction caused by product, influence of the non-stationary random vibration to product is never sub-
In stationary random vibration, the product failure pattern that stationary random vibration and non-stationary random vibration are inspired also differs farther out,
With stationary random vibration come to replace non-stationary be unreasonable at random.Simultaneously as in functional and Reliability Check Test
There is higher requirement to the simulation of true environment, urgently need to carry out non-stationary random vibration test technology investigation, to carry
Go out a kind of non-stationary random experiment control method, to solve the problems, such as the environmental simulation of non-stationary random vibration.
At present, vibrating controller product includes recalling perseverance, rising the controller that shakes for China, international SD, DP and LMS control
The random vibration control function that device processed etc. is included, be using stationary random vibration control mode, without non-stationary with
Machine vibration control function.Certain research, such as document have been done in terms of Nonstationary Random Vibration Signals analysis and processing in the country：
《The Instantaneous Power Spectrum Analysis of Nonstationary Random Vibration Signals》, Jin Xianlong, vibration engineering journal, 1990, Vol.3No.3:26-
31；《The instantaneous power spectrum of Vehicular system non-stationary random vibration》, Liu Gang etc., 1997, vol.10No.3:121-123, it is proposed that
The instantaneous power mode that changes with time of spectrum describes nonstationary random signal；In addition document：《Local stationary random vibration
Processing and application》, He Baiyang, system engineering and electronic technology, 1993, No.3:59-63, it is proposed that with product model come approximate
Nonstationary random process is described, which is convenient for being handled in time-domain and frequency domain.And it is tried about non-stationary random vibration
It is still few to test control document.
It is not disclosed about non-stationary random vibration experimental control method through searching for patent and non-patent literature data
Pertinent literature more has no that Related product uses in the application.
Invention content
The purpose of the present invention is that solve the above-mentioned problems and provides a kind of non-stationary random vibration controlling test side
Method.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of non-stationary random vibration experimental control method is realized by the software being set in control system, including following
Step：
(1) test parameters is set：Basic parameter includes but not limited to test name, date, operating path selection and remarks,
Self-test parameter includes but not limited to self-test starting voltage, self-test magnitude and self-test maximum voltage, control parameter and includes but not limited to
Spectral line number, sample frequency, frequency range, channel parameters but are not limited to include channel selecting, control mode, sensitivity coefficient, are
System identified parameters include but not limited to System Discrimination magnitude, identification signal frame number and average time, and security parameter includes but unlimited
In extreme displacement, limit velocity, limit acceleration and maximum voltage；
(2) non-stationary random reference signal is set：Under frequency coordinate, work(is referred to according to list mode setting random signal
Rate is composed, and the frequency scale of frequency coordinate is the integral multiple of frequency resolution；1g is normalized to by root mean square, g represents specific gravity
Acceleration, root mean square is according to 0s moment, that is, initial time to ns moment, that is, finish time, under time coordinate, according to list mode
The variation of random signal root mean square is set, and the time scale of time coordinate is the integral multiple of temporal resolution；
(3) System self-test：According to self-test starting voltage, the pseudo-random signal that reference power spectrum is converted to and gradually is sent
Raising, reaches self-test magnitude, and by the output of detecting system, whether working properly, normally then enter in next step if carrying out decision-making system
Suddenly, otherwise terminate；
(4) transmission function recognizes：According to the identification magnitude of setting, the pseudorandom being converted to using reference power spectrum is believed
Number, and frame overlap joint is carried out according to the signal frame number of setting, directly carry out ssystem transfer function identification；
(5) vibration control of uniaxial loop cycle：According to recognizing obtained transmission function and inverting, initial driving is calculated
Then frame data, carry out real-time circulation processing by frame data, following steps are respectively completed within the single frame time period：A, it counts
Calculate normalization control power spectrum；B, it is composed using reference power compared with controlling power spectrum with normalization, corrected Calculation is normalized
Driving spectrum；C, spectrum is driven to carry out phase randomization to normalization to convert, and carry out frame and overlap to obtain true random signal with IFFT；D、
Root mean square time changing curve will be referred to and carry out proportional integration model- following control with control root mean square, update is calculated and currently driven
Root-mean-square gain；E, root-mean-square gain will be driven to be multiplied with the driving frame data after overlap joint and the driving output of present frame is calculated
Signal.
Preferably, in the step (2), the calculation formula of the frequency resolution is as follows：
Wherein, Δ f represents frequency resolution, fmaxHighest frequency, L represent spectral line number；
The temporal resolution Δ t is the inverse of frequency resolution Δ f.
In the step (4), by following linear averaging formula manipulation transmission function to obtain better smooth effect：
Wherein,Represent m sampleIn sample, HmRepresent that m sample does m sublinears and put down
The transmission function of gained, m are the average time of setting；
System coherent function represents system input and the frequency dependence degree of output, is made up using coherent function penalty method
The adverse effect that the poor transmission characteristic of system is brought to vibration control, the transmission function formula finally calculated are as follows：
H (ω)=Hm(ω)*γ-1(ω)
In above formula, Hm(ω) represents the transmission function after being averaged m times, and γ (ω) is the system coherent function calculated.
The method of the step A of the step (5) is as follows：
Single frames measurement is carried out to control response signal, and adding window, FFT processing are carried out to signal, is re-transformed into power spectrum, it will
Obtained single frames control power spectrum is normalized, and the method for calculating normalization control power spectrum is as follows：
In above formula,Represent the normalization control power spectrum of present frame, CnewFor the control power spectrum of present frame, CrmsFor
The frequency domain root mean square of present frame power spectrum；
Control is composed as follows by following exponential average formula again and carries out exponential average：
In above formula,Represent the normalization control spectrum of previous frame,Normalization for present frame controls spectrum,For
Updated normalization control spectrum, θ are update weight coefficient, and size is related to number of degrees of freedom, and θ=16/ (DOF+8), DOF is 8
~200；
The arithmetic average for finally carrying out 4 frames to updated normalization control spectrum is handled.
In the step B of the step (5), the calculation formula that corrected Calculation obtains normalization driving spectrum is as follows：
Wherein,Represent present frame normalization driving spectrum,Represent next frame normalization driving spectrum,Represent current
The error of frame normalization driving spectrum,It is composed for reference power, KDOFIt is related to number of degrees of freedom, for Ratio for error modification.
In the step D of the step (5), the calculation formula of driving root-mean-square gain u (n) is as follows：
E (n)=Rrms(n)-Crms(n)
Wherein, kpFor proportionality coefficient,For integral coefficient, e (n) is root-mean-square error, Rrms(n) it is current time
With reference to root mean square, Crms(n) it is the frequency domain root mean square of present frame power spectrum.
The beneficial effects of the present invention are：
For the present invention on traditional random vibration test control method basis, one kind of proposition is directed to non-stationary random continuous
Vibration control method under mode of vibration first, sets normalized non-stationary random reference to compose, while set non-stationary random
With reference to the curve that changes over time of root mean square, then, carry out the transmission function identification of control object, obtain ssystem transfer function simultaneously
It inverts, finally, is corrected in real time according to normalization reference spectrum and normalization control spectrum and obtain updated normalization driving spectrum, driving
Spectrum phase randomization converts with IFFT and carries out frame overlap joint, while according to root mean square versus time curve is referred to, introduces ratio
Example integration model- following control, that is, PI model- following controls, obtain the root-mean-square gain of drive signal in real time, are overlapped using normalization driving frame
Data and drive signal root-mean-square gain product update output drive signal.
It is controlled compared to traditional random vibration test, the spectrum of non-stationary random vibration satisfaction can not only be obtained by the present invention
Shape controls, and nonstationary random signal root mean square can also be stablized and controllably change according to time graph, this control method will be non-
Stationary random vibration process is approximately the product model of a root mean square and power spectrum, and wherein root mean square changes over time reaction
The energy variation process of non-stationary random vibration process at any time；Power spectrum shape is constant, shows the frequency in entire vibration processes
Rate characteristic remains stable substantially, this is very close with true delivery vibration environment operating mode, when root mean square does not change over time,
The non-stationary random vibration is stationary random vibration.Therefore, realize that non-stationary random vibration is tested using this control method
Control be it is effective and feasible, can more truly simulating vehicle, locomotive and high ferro transport and airborne, carrier-borne vibration environment
And the non-stationary random vibration environment such as weapon vibration environmental.
Description of the drawings
Fig. 1 is the structure diagram for the control system that non-stationary random vibration experimental control method of the present invention uses.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Figure 1, the control system that non-stationary random vibration experimental control method of the present invention uses is included commonly
Computer, 8880 controllers of PXI, 6221 multi-functional input-output cards of PXI (containing 2 tunnel simulation outputs, 8 tunnel simulation inputs).It is general
There is non-stationary random vibration test control software in logical computer, shown for user's operation and data, PXI 6221 is multi-functional
Input-output card transfers signals in PXI8880 controllers for acquiring multi-channel control point acceleration transducer and participates in calculating
Method calculates, and calculation of transfer function calculates and updates drive signal and overlap, multiplied by driving root-mean-square gain, by working as acquisition
Preceding driving frame signal is exported to controlled device by 6221 analog output channels of PXI, is realized according to picture frame period cycle operation
Non-stationary random continuous vibrates.PXI 6221 and 8880 controllers of PXI are mounted on the bus slot of 1071 controller boxes of PXI
It is interior.
Non-stationary random vibration experimental control method of the present invention is realized, packet by the software being set in control system
Include following steps：
(1) test parameters is set：Basic parameter includes but not limited to test name, date, operating path selection and remarks,
Self-test parameter includes but not limited to self-test starting voltage, self-test magnitude and self-test maximum voltage, control parameter and includes but not limited to
Spectral line number, sample frequency, frequency range, channel parameters but are not limited to include channel selecting, control mode, sensitivity coefficient, are
System identified parameters include but not limited to System Discrimination magnitude, identification signal frame number and average time, and security parameter includes but unlimited
In extreme displacement, limit velocity, limit acceleration and maximum voltage；
(2) non-stationary random reference signal is set：Under frequency coordinate, work(is referred to according to list mode setting random signal
Rate is composed, and the frequency scale of frequency coordinate is the integral multiple of frequency resolution；1g is normalized to by root mean square, g represents specific gravity
Acceleration, root mean square is according to 0s moment, that is, initial time to ns moment, that is, finish time, under time coordinate, according to list mode
The variation of random signal root mean square is set, and the time scale of time coordinate is the integral multiple of temporal resolution；The frequency discrimination
The calculation formula of rate is as follows：
Wherein, Δ f represents frequency resolution, fmaxHighest frequency, L represent spectral line number；
The temporal resolution Δ t is the inverse of frequency resolution Δ f；
(3) System self-test：According to self-test starting voltage, the pseudo-random signal that reference power spectrum is converted to and gradually is sent
Raising, reaches self-test magnitude, and by the output of detecting system, whether working properly, normally then enter in next step if carrying out decision-making system
Suddenly, otherwise terminate；
(4) transmission function recognizes：According to the identification magnitude of setting, the pseudorandom being converted to using reference power spectrum is believed
Number, and frame overlap joint is carried out according to the signal frame number of setting, directly carry out ssystem transfer function identification；In this step, by following
Linear averaging formula manipulation transmission function is to obtain better smooth effect：
Wherein,Represent m sampleIn sample, HmRepresent that m sample does m sublinears and put down
The transmission function of gained, m are the average time of setting；
System coherent function represents system input and the frequency dependence degree of output, is made up using coherent function penalty method
The adverse effect that the poor transmission characteristic of system is brought to vibration control, the transmission function formula finally calculated are as follows：
H (ω)=Hm(ω)*γ-1(ω)
In above formula, Hm(ω) represents the transmission function after being averaged m times, and γ (ω) is the system coherent function calculated；
(5) vibration control of uniaxial loop cycle：According to recognizing obtained transmission function and inverting, initial driving is calculated
Then frame data, carry out real-time circulation processing by frame data, following steps are respectively completed within the single frame time period：A, it counts
Calculate normalization control power spectrum；B, it is composed using reference power compared with controlling power spectrum with normalization, corrected Calculation is normalized
Driving spectrum；C, spectrum is driven to carry out phase randomization to normalization to convert with IFFT, IFFT transformation is inverse discrete Fourier transform, and
Frame is carried out to overlap to obtain true random signal；D, will refer to root mean square time changing curve with control root mean square carry out proportional integration with
With control, calculate update and obtain currently driving root-mean-square gain；E, root-mean-square gain and the driving frame data after overlap joint will be driven
It is multiplied and the drive output signal of present frame is calculated；
In above-mentioned steps (5), the method for step A is as follows：
Single frames measurement is carried out to control response signal, and adding window, FFT processing are carried out to signal, FFT, that is, fast Fourier becomes
It changes, is re-transformed into power spectrum, obtained single frames control power spectrum is normalized, calculate normalization control power spectrum
Method is as follows：
In above formula,Represent the normalization control power spectrum of present frame, CnewFor the control power spectrum of present frame, CrmsFor
The frequency domain root mean square of present frame power spectrum；
Control is composed as follows by following exponential average formula again and carries out exponential average：
In above formula,Represent the normalization control spectrum of previous frame,Normalization for present frame controls spectrum,For more
Normalization control spectrum after new, θ is update weight coefficient, and size is related to number of degrees of freedom, θ=16/ (DOF+8), DOF 8~
200；
The arithmetic average for finally carrying out 4 frames to updated normalization control spectrum is handled；
In the step B of the step (5), the calculation formula that corrected Calculation obtains normalization driving spectrum is as follows：
Wherein,Represent present frame normalization driving spectrum,Represent next frame normalization driving spectrum,Represent current
The error of frame normalization driving spectrum,It is composed for reference power, KDOFIt is related to number of degrees of freedom, for Ratio for error modification；
In the step D of the step (5), the calculation formula of driving root-mean-square gain u (n) is as follows：
E (n)=Rrms(n)-Crms(n)
Wherein, kpFor proportionality coefficient,For integral coefficient, e (n) is root-mean-square error, Rrms(n) it is current time
With reference to root mean square, Crms(n) it is the frequency domain root mean square of present frame power spectrum.
Above-described embodiment is presently preferred embodiments of the present invention, is not the limitation to technical solution of the present invention, as long as
Without the technical solution that creative work can be realized on the basis of above-described embodiment, it is regarded as falling into patent of the present invention
Rights protection scope in.
Claims (5)
1. a kind of non-stationary random vibration experimental control method is realized by the software being set in control system, it is characterised in that：
Include the following steps：
(1) test parameters is set：Basic parameter includes but not limited to test name, date, operating path selection and remarks, self-test
Parameter includes but not limited to self-test starting voltage, self-test magnitude and self-test maximum voltage, control parameter and includes but not limited to spectral line
Number, sample frequency, frequency range, channel parameters but are not limited to include channel selecting, control mode, sensitivity coefficient, and system is distinguished
Knowledge parameter includes but not limited to System Discrimination magnitude, identification signal frame number and average time, security parameter and includes but not limited to pole
Limit shifting, limit velocity, limit acceleration and maximum voltage；
(2) non-stationary random reference signal is set：Under frequency coordinate, random signal reference power is set according to list mode
Spectrum, the frequency scale of frequency coordinate is the integral multiple of frequency resolution；1g is normalized to by root mean square, g represents that specific gravity adds
Speed, root mean square under time coordinate, are set according to 0s moment, that is, initial time to ns moment, that is, finish time according to list mode
The variation of random signal root mean square is put, the time scale of time coordinate is the integral multiple of temporal resolution；
(3) System self-test：According to self-test starting voltage, send the pseudo-random signal that reference power spectrum is converted to and gradually rise
Height reaches self-test magnitude, and by the output of detecting system, whether working properly, normally then enter next step if carrying out decision-making system,
Otherwise terminate；
(4) transmission function recognizes：According to the identification magnitude of setting, the pseudo-random signal being converted to using reference power spectrum, and
Frame overlap joint is carried out according to the signal frame number of setting, directly carries out ssystem transfer function identification；
(5) vibration control of uniaxial loop cycle：According to recognizing obtained transmission function and inverting, initial driving frame number is calculated
According to, then, by frame data carry out real-time circulation processing, be respectively completed following steps within the single frame time period：A, it calculates and returns
One changes control power spectrum；B, it is composed using reference power compared with controlling power spectrum with normalization, corrected Calculation obtains normalization driving
Spectrum；C, spectrum is driven to carry out phase randomization to normalization to convert, and carry out frame and overlap to obtain true random signal with IFFT；It D, will ginseng
It examines root mean square time changing curve and carries out proportional integration model- following control with control root mean square, calculating update is currently driven square
Root gain；E, root-mean-square gain will be driven to be multiplied with the driving frame data after overlap joint and the driving output letter of present frame is calculated
Number；
The method of the step A of the step (5) is as follows：
Single frames measurement is carried out to control response signal, and adding window, FFT processing are carried out to signal, power spectrum is re-transformed into, will obtain
Single frames control power spectrum be normalized, calculate normalization control power spectrum method it is as follows：
In above formula,Represent the normalization control power spectrum of present frame, CnewFor the control power spectrum of present frame, CrmsIt is current
The frequency domain root mean square of frame power spectrum；
Control is composed as follows by following exponential average formula again and carries out exponential average：
In above formula,Represent the normalization control spectrum of previous frame,Normalization for present frame controls spectrum,After update
Normalization control spectrum, θ for update weight coefficient, size is related to number of degrees of freedom, and θ=16/ (DOF+8), DOF is 8~200；
The arithmetic average for finally carrying out 4 frames to updated normalization control spectrum is handled.
2. non-stationary random vibration experimental control method according to claim 1, it is characterised in that：In the step (2),
The calculation formula of the frequency resolution is as follows：
Wherein, Δ f represents frequency resolution, fmaxHighest frequency, L represent spectral line number；
The temporal resolution Δ t is the inverse of frequency resolution Δ f.
3. non-stationary random vibration experimental control method according to claim 1, it is characterised in that：In the step (4),
By following linear averaging formula manipulation transmission function to obtain better smooth effect：
Wherein,Represent m sampleIn sample, HmRepresent that m sample does m sublinears and be averaged institute
The transmission function obtained, m are the average time of setting；
System coherent function represents system input and the frequency dependence degree of output, and system is made up using coherent function penalty method
The adverse effect that poor transmission characteristic is brought to vibration control, the transmission function formula finally calculated are as follows：
H (ω)=Hm(ω)*γ-1(ω)
In above formula, Hm(ω) represents the transmission function after being averaged m times, and γ (ω) is the system coherent function calculated.
4. non-stationary random vibration experimental control method according to claim 1, it is characterised in that：The step (5)
In step B, the calculation formula that corrected Calculation obtains normalization driving spectrum is as follows：
Wherein,Represent present frame normalization driving spectrum,Represent next frame normalization driving spectrum,Represent that present frame is returned
One changes the error of driving spectrum,It is composed for reference power, KDOFIt is related to number of degrees of freedom, for Ratio for error modification.
5. non-stationary random vibration experimental control method according to claim 1, it is characterised in that：The step (5)
In step D, the calculation formula of driving root-mean-square gain u (n) is as follows：
E (n)=Rrms(n)-Crms(n)
Wherein, kpFor proportionality coefficient,For integral coefficient, e (n) is root-mean-square error, Rrms(n) it is the reference at current time
Root mean square, Crms(n) it is the frequency domain root mean square of present frame power spectrum.
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| CN110375939B (en) * | 2019-07-03 | 2021-09-07 | 航天东方红卫星有限公司 | Improved method for evaluating health state of spacecraft structure vibration test |
| CN112504616A (en) * | 2020-11-18 | 2021-03-16 | 中国空气动力研究与发展中心 | Method and device for suppressing harmonic waves of astronomical dynamic force |
| 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 |
| CN113204255B (en) * | 2021-06-21 | 2021-12-21 | 北京博科测试系统股份有限公司 | Multi-degree-of-freedom vibration table power spectrum loading control method |
| CN114577425B (en) * | 2022-03-07 | 2023-12-05 | 中国工程物理研究院总体工程研究所 | Transfer function identification method for multi-input multi-output vibration test system |
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