CN110377965A - A kind of discrimination method of the flexible structure nonlinear characteristic containing hinge - Google Patents
A kind of discrimination method of the flexible structure nonlinear characteristic containing hinge Download PDFInfo
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- CN110377965A CN110377965A CN201910560219.XA CN201910560219A CN110377965A CN 110377965 A CN110377965 A CN 110377965A CN 201910560219 A CN201910560219 A CN 201910560219A CN 110377965 A CN110377965 A CN 110377965A
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Abstract
The invention discloses a kind of discrimination methods of flexible structure nonlinear characteristic containing hinge, include the following steps, carry out dynamic test to the flexible structure containing hinge, while obtaining displacement structure response x, speed responsive v, acceleration responsive a and external excitation f；According to formula F=f-ma, the restoring force F of structure is calculated, wherein m is the quality of the flexible structure containing hinge；Using the three-dimensional data { x, v, F } of acquisition, three-dimensional point set of the restoring force F about dynamic respond x and speed responsive v is made；Interpolation is carried out to three-dimensional point set { x, v, F } using natural neighbor interpolation method and makes 3-d recovery power curved surface；When speed is zero, displacement and restoring force relation curve are extracted, damper model is determined by curve matching；When displacement is zero, extraction rate and restoring force relation curve determine rigidity model by curve matching.The present invention can accurately identify the complex nonlinear model containing hinged structure, identification result high reliablity.
Description
Technical field
The present invention relates to more particularly to it is a kind of containing hinge flexible structure nonlinear characteristic discrimination method.
Background technique
With the development of Space Science and Technology, space structure tends to enlargement, flexibility and high precision int.Due to delivery technology
The requirement of limitation and big folding ratio, spacecraft structure often contain the structures such as a large amount of hinge, such as solar energy sailboard, extending arm
Each component between function folded and unfolded to realize using hinged mode.Since there are gaps in hinge arrangement, outside
Under boundary's excitation, structure generates the non-linear phenomenas such as collision and friction, causes structure to show stronger nonlinear characteristic, influences to tie
The normal work of structure and pertinent instruments.
Existing technology, needs to assume in advance the nonlinear characteristic model containing hinged structure, thus obtained identification result with
Actual conditions are not inconsistent, while there are limitations in actual application.
It would therefore be highly desirable to solve the above problems.
Summary of the invention
Goal of the invention: the object of the present invention is to provide can solve can not in the case where known structure external excitation and dynamic response
A kind of discrimination method of flexible structure nonlinear characteristic containing hinge of the problem of accurate recognition structural nonlinear feature.
Technical solution: in order to achieve the above object, the invention discloses a kind of identifications of flexible structure nonlinear characteristic containing hinge
Method includes the following steps:
(1) dynamic test is carried out to the flexible structure containing hinge, while obtains displacement structure response x, speed responsive v, accelerates
Degree response a and external excitation f；
(2) according to formula F=f-ma, the restoring force F of structure is calculated, wherein m is the quality of the flexible structure containing hinge；
(3) utilize step (1) and (2) three-dimensional data obtained { x, v, F }, make restoring force F about dynamic respond x with
The three-dimensional point set of speed responsive v；
(4) interpolation is carried out to three-dimensional point set { x, v, F } using natural neighbor interpolation method and makes 3-d recovery power curved surface；
(5) when speed is zero, displacement and restoring force relation curve is extracted, damper model is determined by curve matching；When
When displacement is zero, extraction rate and restoring force relation curve determine rigidity model by curve matching.
Wherein, the element number in the step (3) in x, v, F is identical, and corresponds, and contains under as same time point
Cut with scissors displacement, speed and the recovery force data of flexible structure.
Preferably, three-dimensional point set { x, v, F } is uniformly distributed in speed and displacement coordinate system in the step (3).
Furthermore it makes 3-d recovery power curved surface using natural neighbor interpolation method in the step (4) to include the following steps:
(1) interpolation section and step-length for giving displacement x and speed v, obtain interpolation point；
(2) displacement x and speed v coordinate of interpolation point are obtained using meshgrid function；
(3) three-dimensional data and interpolation point coordinate for utilizing sample point, using natural neighbor interpolation method in griddata function
Obtain the restoring force z coordinate of interpolation point；
(4) restoring force three dimensional network trrellis diagram is made using mesh function.
Further, displacement structure response x is measured by laser displacement gauge in the step (1), and speed responsive v passes through displacement
Response x differential obtains, and acceleration responsive a is measured by accelerometer.
Furthermore displacement structure response x is measured by laser displacement gauge in the step (1), and speed responsive v passes through acceleration
Response a integrates to obtain, and acceleration responsive a is measured by accelerometer.
The utility model has the advantages that compared with prior art, the present invention has following remarkable advantage: the present invention is obtained by dynamic test
Displacement structure response, speed responsive and structure restoring force are taken, it is accurate to know in the case where not needing to assume structural nonlinear feature
Not containing the complex nonlinear model of hinged structure, data are easily obtained, and small, easy to implement, identification result high reliablity is influenced by the external world.
Detailed description of the invention
Fig. 1 is the schematic diagram that the flexible structure containing hinge carries out dynamic test in the present invention；
Fig. 2 is the restoring force surface chart being fitted in the present invention using natural neighbor interpolation method；
Fig. 3 is displacement and restoring force relation curve in the present invention；
Fig. 4 is speed and restoring force relation curve in the present invention.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawing.
A kind of discrimination method principle of flexible structure nonlinear characteristic containing hinge provided by the invention is as follows:
According to Newton's second law, the equation of motion of system be may be expressed as:
In formula,It is the function of system instantaneous state, i.e. speed for the restoring force of systemWith the function of displacement x.
Broad sense damping and the generalized stifflness of structure are contained in restoring force；M is architecture quality；F is external excitation.By restoring force and external excitation
It is separated with inertia force, then (1) formula can be rewritten as
If architecture quality m is it is known that external excitation F and accelerationIt has measured to obtain, can learn the right in formula (2)
Expression formula, and then f can also be learnt.In dynamic test, time-domain signal Δ t discrete sampling is obtained, then is adopted at i-th
Sample moment, formula (2) are rewritten as
According to formula (3), the restoring force f of each sampling instantiIt can obtain.The dynamic respond of structure passes through laser position
Shifting measures, and speed responsive is obtained by dynamic respond differential, can also be obtained by acceleration responsive direct integral, and acceleration is rung
It should be obtained by accelerometer measures, then the three-dimensional data point set of each sampling instantThe first two data xi andTable
Show projection of this in phase plane, and third data fiThe height of the point is then indicated, it is possible thereby to constitute discrete distribution
Restoring force curved surface.
A kind of discrimination method of the flexible structure nonlinear characteristic containing hinge of the present invention, includes the following steps:
(1) dynamic test is carried out to the flexible structure containing hinge, while obtains displacement structure response x, speed responsive v, accelerates
Degree response a and external excitation f；Displacement structure response x is measured by laser displacement gauge, and speed responsive v is obtained by dynamic respond x differential
It arrives, can also integrate to obtain by acceleration responsive a；Acceleration responsive a is measured by accelerometer.
(2) according to formula F=f-ma, the restoring force F of structure is calculated, wherein m is the quality of the flexible structure containing hinge；
(3) utilize step (1) and (2) three-dimensional data obtained { x, v, F }, make restoring force F about dynamic respond x with
The three-dimensional point set of speed responsive v；Element number wherein in x, v, F is identical, and corresponds, containing hinge under as same time point
The displacement of flexible structure, speed and restore force data, three-dimensional point set { x, v, F } is uniformly distributed in speed and displacement coordinate system；
(4) interpolation is carried out to three-dimensional point set { x, v, F } using natural neighbor interpolation method and makes 3-d recovery power curved surface, adopted
3-d recovery power curved surface is made with natural neighbor interpolation method to include the following steps:
(1) interpolation section and step-length for giving displacement x and speed v, obtain interpolation point；
(2) displacement x and speed v coordinate of interpolation point are obtained using meshgrid function；
(3) three-dimensional data and interpolation point coordinate for utilizing sample point, using natural neighbor interpolation method in griddata function
Obtain the restoring force z coordinate of interpolation point；
(4) restoring force three dimensional network trrellis diagram is made using mesh function；
(5) when speed is zero, displacement and restoring force relation curve is extracted, damper model is determined by curve matching；When
When displacement is zero, extraction rate and restoring force relation curve determine rigidity model by curve matching.
The reliability that nonlinear characteristic identification carrys out verification method is carried out by subjects of the flexible structure containing hinge below.
Firstly, carrying out dynamic test to the flexible structure containing hinge shown in Fig. 1, obtain three-dimensional data point set { x, v, F }；Its
It is secondary, restoring force curved surface is made using natural neighbor interpolation method, as shown in Figure 2；Finally, restoring force curved surface and speed are zero plane
Intersection is displacement-restoring force relation curve, as shown in figure 3, the intersection that restoring force curved surface and displacement are zero plane is speed-recovery
Power relation curve, as shown in figure 4, obtaining structural stiff parameter K and damping parameter c by fitting.The rigidity of structure and damping are quasi-
It closes shown in result such as formula (4) and formula (5)
There are hinge gap in structure, this method identifies that the rigidity of structure shows piecewise linear characteristic, with practical phase
Meet.Therefore, this method can carry out system parameter identification to containing hinged structure.
Claims (6)
1. a kind of discrimination method of the flexible structure nonlinear characteristic containing hinge, which comprises the steps of:
(1) dynamic test is carried out to the flexible structure containing hinge, while obtains displacement structure response x, speed responsive v, acceleration and rings
Answer a and external excitation f；
(2) according to formula F=f-ma, the restoring force F of structure is calculated, wherein m is the quality of the flexible structure containing hinge；
(3) step (1) and (2) three-dimensional data obtained { x, v, F } are utilized, makes restoring force F about dynamic respond x and speed
Respond the three-dimensional point set of v；
(4) interpolation is carried out to three-dimensional point set { x, v, F } using natural neighbor interpolation method and makes 3-d recovery power curved surface；
(5) when speed is zero, displacement and restoring force relation curve is extracted, damper model is determined by curve matching；Work as displacement
When being zero, extraction rate and restoring force relation curve determine rigidity model by curve matching.
2. a kind of discrimination method of flexible structure nonlinear characteristic containing hinge according to claim 1, it is characterised in that: described
Element number in step (3) in x, v, F is identical, and corresponds, the displacement of the flexible structure containing hinge under as same time point,
Speed and recovery force data.
3. a kind of discrimination method of flexible structure nonlinear characteristic containing hinge according to claim 1, it is characterised in that: described
Three-dimensional point set { x, v, F } is uniformly distributed in speed and displacement coordinate system in step (3).
4. a kind of discrimination method of flexible structure nonlinear characteristic containing hinge according to claim 1, it is characterised in that: described
3-d recovery power curved surface is made using natural neighbor interpolation method in step (4) to include the following steps:
(1) interpolation section and step-length for giving displacement x and speed v, obtain interpolation point；
(2) displacement x and speed v coordinate of interpolation point are obtained using meshgrid function；
(3) three-dimensional data and interpolation point coordinate for utilizing sample point, are obtained using natural neighbor interpolation method in griddata function
The restoring force z coordinate of interpolation point；
(4) restoring force three dimensional network trrellis diagram is made using mesh function.
5. a kind of discrimination method of flexible structure nonlinear characteristic containing hinge according to claim 1, it is characterised in that: described
Displacement structure response x is measured by laser displacement gauge in step (1), and speed responsive v is obtained by dynamic respond x differential, is accelerated
Degree response a is measured by accelerometer.
6. a kind of discrimination method of flexible structure nonlinear characteristic containing hinge according to claim 1, it is characterised in that: described
Displacement structure response x is measured by laser displacement gauge in step (1), and speed responsive v integrates to obtain by acceleration responsive a, adds
Speed responsive a is measured by accelerometer.
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Cited By (2)
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| CN111259328A (en) * | 2020-01-16 | 2020-06-09 | 东南大学 | Method for detecting nonlinear characteristics of spacecraft structure driven by free vibration displacement response |
| CN112632694A (en) * | 2020-12-02 | 2021-04-09 | 东南大学 | Spacecraft structure nonlinear parameter hybrid identification method |
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