CN112504616A - Method and device for suppressing harmonic waves of astronomical dynamic force - Google Patents

Method and device for suppressing harmonic waves of astronomical dynamic force Download PDF

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CN112504616A
CN112504616A CN202011291075.1A CN202011291075A CN112504616A CN 112504616 A CN112504616 A CN 112504616A CN 202011291075 A CN202011291075 A CN 202011291075A CN 112504616 A CN112504616 A CN 112504616A
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harmonic
vibration table
waveform
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suppression unit
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于时恩
陈章位
李宏斌
林其
青龙
毛雄兵
李向东
李春
郭鹏宇
王振峰
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China Aerodynamics Research And Development Center
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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
    • G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
    • G01M9/06—Measuring arrangements specially adapted for aerodynamic testing
    • G01M9/062—Wind tunnel balances; Holding devices combined with measuring arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract

The invention discloses a method and a device for suppressing a dynamic force harmonic wave in a astronomical motion, which relate to the technical field of wind tunnel balances and have the technical scheme that: the method specifically comprises the following steps: s1, acquiring an acceleration signal of the vibrating table by adopting a standard acceleration sensor, and sending the acquired acceleration signal to a harmonic suppression unit; and S2, the harmonic suppression unit receives the acceleration signal, and the harmonic suppression unit removes the harmonic according to the acceleration signal to generate a control voltage signal. The method can avoid the problem of harmonic distortion of output waveforms by accurately injecting the control component of the harmonic frequency and adjusting the weight coefficient of the control component in real time through a self-adaptive algorithm, has few adjustable parameters, is convenient to realize, and has strong universality on different vibration table systems; meanwhile, the method can compensate the time-varying characteristic of the system to a certain extent, and can quickly and adaptively inhibit the time-varying influence when the system characteristic is subjected to sudden change or slow time variation within a certain range.

Description

Method and device for suppressing harmonic waves of astronomical dynamic force
Technical Field
The invention relates to the technical field of wind tunnel balances, in particular to a method and a device for suppressing dynamic force harmonic waves in a astronomical motion.
Background
When the wind tunnel astronomical attitude calibration is carried out, the suppression of harmonic distortion of a physical system of the vibration table is influenced by nonlinear factors of all components in the system, and the suppression effect of waveform distortion is limited. To further suppress harmonic distortion for a given vibration table hardware system, suppressing harmonics by a control algorithm is a very cost effective and efficient way.
Most of the existing methods for applying the control technology to the harmonic suppression of the vibration table are based on the traditional feedback control, the effect of harmonic distortion suppression is very limited, and the suppression effect is different and has no universality when a specific system needs to be designed specifically.
Disclosure of Invention
The invention aims to provide a method and a device for suppressing harmonic waves of a astronomical dynamic force.
The technical purpose of the invention is realized by the following technical scheme: a skynet dynamic force harmonic suppression method specifically comprises the following steps:
s1, acquiring an acceleration signal of the vibrating table by adopting a standard acceleration sensor, and sending the acquired acceleration signal to a harmonic suppression unit;
s2, the harmonic suppression unit receives the acceleration signal, and the harmonic suppression unit removes harmonic according to the acceleration signal to generate a control voltage signal;
the specific method for harmonic removal by the harmonic suppression unit according to the acceleration signal is as follows:
1) presetting an expected output waveform of a vibration table;
2) and adjusting the actual output waveform of the vibrating table to be consistent with the expected waveform based on the acceleration signal of the vibrating table actually acquired by the standard acceleration sensor to form a control voltage signal.
Further, the method for adjusting the actual output waveform of the vibration table to be consistent with the expected waveform in step S2 includes the following steps:
A. identifying system characteristics of a vibration table system under a specified frequency and a harmonic frequency thereof;
B. updating the system parameters of the vibration table of each sampling point in real time, and performing normalization self-adaptation;
C. and carrying out error tracking on the waveform actually output by the vibration table relative to the expected waveform, updating the weight coefficient of each order of harmonic frequency component, and adjusting the actual output waveform of the vibration table.
Further, the acceleration signal is a periodic waveform.
Further, the expression for identifying the system characteristics of the vibration table system at the specified frequency and the harmonic frequency thereof in the step a is as follows:
Figure BDA0002783808330000021
wherein k represents a discrete sequence of samples; f represents a predetermined frequency;
Figure BDA0002783808330000022
and
Figure BDA0002783808330000023
a vibration table system characteristic representing an i-th harmonic at a prescribed frequency f;
(i ═ 1, 2, …, m), m denoting the number of harmonics to be suppressed;
xai(k)＝sin(2πfitk) A sinusoidal basis function representing the harmonic frequency of each order;
xbi(k)＝cos(2πfitk) Cosine basis function representing the frequency of each order of harmonic, where fi＝i*f1；
q0iAnd q is1iThe weight coefficients for each harmonic frequency component in the system parameter identification stage are respectively, and need to be constant values in advance.
Further, the specific process of the normalized adaptation in step B adopts the following formula:
Figure BDA0002783808330000031
Figure BDA0002783808330000032
Figure BDA0002783808330000033
Figure BDA0002783808330000034
Figure BDA0002783808330000035
wherein the content of the first and second substances,
Figure BDA0002783808330000038
an estimate representing an output signal of the vibration table;
y (k) represents the actual output signal of the vibration table;
e (k) represents the identification error, namely the difference between the actual output and the estimated value;
γirepresents a recognition step factor, the size of which determines the speed of convergence;
Figure BDA0002783808330000039
and
Figure BDA00027838083300000310
is composed of
Figure BDA00027838083300000311
And
Figure BDA00027838083300000312
the convergence value of (1).
Further, in step C, error tracking is performed on the actual output waveform relative to the expected waveform, the weight coefficient of each order of harmonic frequency component is updated, and the following formula is adopted for adjusting the actual output waveform of the vibration table:
Figure BDA0002783808330000036
Figure BDA0002783808330000037
Figure BDA0002783808330000041
e(k)＝yd(k)-y(k)
wherein e (k) represents the tracking error of the actual output waveform relative to the desired waveform;
w0i(k) and w1i(k) Harmonic frequencies of each order representing a waveform control phaseA weight coefficient of the component;
μiis a control step factor, the size of which determines the speed at which the algorithm converges.
The invention also provides a device for suppressing the harmonic wave of the dynamic force of the astronomical motion, which is arranged on a vibration table and comprises a balance to be calibrated, G, H, a horizontal sliding table, a counterweight mass block, standard acceleration sensors and harmonic wave suppression units, wherein the number of the standard acceleration sensors is at least 1; the G is rigidly connected with the top surface of the horizontal sliding table; the top surface of the H is rigidly connected with the bottom surface of the counterweight mass block;
the standard acceleration sensors are arranged on two side faces of the counterweight mass block, the standard acceleration sensors are in threaded connection with the side faces of the counterweight mass block, and the installation direction of the standard acceleration sensors is consistent with the movement direction of the horizontal sliding table;
and the harmonic suppression unit is used for performing harmonic suppression according to the acceleration signals acquired by the standard acceleration sensor.
Further, standard acceleration sensor symmetry installation and two sides of counter weight quality piece, just 5 standard acceleration sensors are installed respectively to two sides of counter weight quality piece, 5 standard acceleration sensors of the same side of counter weight quality piece are located the side center and the counter weight quality piece four corners department of counter weight quality piece respectively.
Furthermore, the standard acceleration sensor is used for acquiring an acceleration signal and sending the acquired acceleration signal to the harmonic suppression unit; and the harmonic suppression unit is used for performing harmonic suppression according to the acceleration signal sent by the standard acceleration sensor.
In conclusion, the invention has the following beneficial effects:
(1) the method accurately injects the control component of the harmonic frequency, adjusts the weight coefficient of the control component in real time through a self-adaptive algorithm, and can avoid the problem of harmonic distortion of an output waveform;
(2) in the process of suppressing the harmonic wave of the dynamic force of the astronomical motion, the method has few adjustable parameters, is convenient to realize and can have strong universality on different vibration table systems;
(3) the invention adopts the self-adaptive algorithm based on the output waveform tracking error drive to carry out harmonic suppression, can compensate the time-varying characteristic of the system to a certain extent, and can quickly and self-adaptively suppress the influence of time variation when the system characteristic generates sudden change or slow time variation within a certain range.
Drawings
FIG. 1 is a flow chart of a method for suppressing the harmonic of the dynamic force of the balance in embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a method for suppressing the harmonic wave of the skyhook dynamic force in example 1 of the present invention;
fig. 3 is a schematic diagram of a device for suppressing a harmonic of a dynamic force of a balance in embodiment 2 of the present invention.
In the figure: 1. a balance to be calibrated; 2. a counterweight mass block; 3. a standard acceleration sensor; 4. h; 5. g; 6. horizontal slip table.
Detailed Description
The present invention is described in further detail below with reference to figures 1-3.
Example 1: a method and a device for suppressing harmonic waves of a astronomical dynamic force are disclosed, as shown in figures 1 and 2, and specifically comprise the following steps:
and S1, acquiring the acceleration signal of the vibrating table by adopting the standard acceleration sensor 3, and sending the acquired acceleration signal to the harmonic suppression unit.
And S2, the harmonic suppression unit receives the acceleration signal, and the harmonic suppression unit removes the harmonic according to the acceleration signal to generate a control voltage signal.
The specific method for harmonic removal by the harmonic suppression unit according to the acceleration signal is as follows:
1) the desired output waveform of the vibration table is preset.
2) And adjusting the actual output waveform of the vibration table to be consistent with the expected waveform based on the acceleration signal of the vibration table actually acquired by the standard acceleration sensor 3 to form a control voltage signal.
Specifically, in an application environment of a low-frequency standard vibration table, in an actual operation process, the standard acceleration sensor 3 collects an acceleration signal of the vibration table, and sends the acceleration signal to the harmonic suppression unit. The harmonic suppression unit receives the acceleration signal, generates a control voltage signal after performing harmonic suppression according to the acceleration signal, and sends the generated control voltage signal to the power amplifier. The power amplifier receives the control voltage signal, amplifies the control voltage signal to generate an amplified control voltage signal, and sends the amplified control voltage signal to the vibration table. The vibration table receives the amplified control voltage signal and controls the movement of the moving part of the vibration table according to the amplified control voltage signal.
In the process of harmonic suppression unit removing harmonic according to the acceleration signal and generating the control voltage signal, as shown in fig. 2, the expected output waveform of the vibration table is preset first. And then the harmonic suppression unit adjusts the actual output waveform of the vibration table to be consistent with the expected waveform as much as possible based on the actually acquired acceleration signal to form a control voltage signal. The specific method for keeping the actual output waveform of the physical sign moving table consistent with the expected waveform as far as possible comprises the following steps of:
A. and identifying the system characteristics of the vibration table system at the specified frequency and the harmonic frequency thereof.
B. And updating the system parameters of the vibration table of each sampling point in real time, and performing normalization self-adaptation.
C. And carrying out error tracking on the waveform actually output by the vibration table relative to the expected waveform, updating the weight coefficient of each order of harmonic frequency component, and adjusting the actual output waveform of the vibration table.
Wherein, the acceleration signal is a periodic waveform.
In the step a, the expression for identifying the system characteristics of the vibration table system under the specified frequency and the harmonic frequency thereof is as follows:
Figure BDA0002783808330000071
where k represents a discrete sequence of samples. f denotes a predetermined frequency.
Figure BDA0002783808330000072
And
Figure BDA0002783808330000073
showing the characteristics of the vibration table system at the i-th harmonic at a specified frequency f.
(i ═ 1, 2, …, m), where m denotes the number of harmonics to be suppressed.
xai(k)＝sin(2πfitk) Representing the sinusoidal basis function for each order of harmonic frequency.
xbi(k)＝cos(2πfitk) Cosine basis function representing the frequency of each order of harmonic, where fi＝i*f1。
q0iAnd q is1iThe weight coefficients for each order of harmonic frequency component in the system parameter identification stage are respectively, and need constant values in advance, and the size of the value has no specific requirement, but care should be taken to ensure that each order of frequency has sufficient signal-to-noise ratio, and the control input must not exceed the maximum limit of the vibration table. In the whole parameter identification stage, the control signal u (k) is inputted into the vibration table.
The signal to noise ratio is also known as the signal to noise ratio. Refers to the ratio of signal to noise in an electronic device or system. The signal refers to an electronic signal from the outside of the device to be processed by the device, the noise refers to an irregular extra signal (or information) which does not exist in the original signal generated after passing through the device, and the signal does not change along with the change of the original signal.
Wherein, when control signal input shaking table, the system parameter all need real-time update at every sampling point, and the parameter self-adaptation identification process of normalization can be described as:
Figure BDA0002783808330000081
Figure BDA0002783808330000082
Figure BDA0002783808330000083
Figure BDA0002783808330000084
Figure BDA0002783808330000085
wherein the content of the first and second substances,
Figure BDA0002783808330000089
representing an estimate of the output signal of the vibration table.
y (k) represents the actual output signal of the vibration table.
E (k) represents the recognition error, i.e., the difference between the actual output and the estimated value.
γiRepresenting a recognition step factor whose size determines the speed of convergence.
Figure BDA00027838083300000810
And
Figure BDA00027838083300000811
is composed of
Figure BDA00027838083300000812
And
Figure BDA00027838083300000813
the convergence value of (1).
In the process of controlling the output waveform of the vibration table and suppressing the harmonic wave, error tracking needs to be carried out on the actual output waveform relative to the expected waveform, and the weight coefficient of each order of harmonic frequency component needs to be updated continuously. The actual output waveform expression of the vibration table is adjusted as follows:
Figure BDA0002783808330000086
w0i(k) and w1i(k) Weight coefficients representing harmonic frequency components of each order of the waveform control phase, the initial values of which are set to values close to zero, w being updated with the acquisition quantity0i(k) And w1i(k) Are also constantly being updated.
w0i(k) And w1i(k) The update method of (1) is as follows:
Figure BDA0002783808330000087
Figure BDA0002783808330000088
e(k)＝yd(k)-y(k)
wherein e (k) represents the tracking error of the actual output waveform relative to the expected waveform, μiIs a control step factor, the size of which determines the speed at which the algorithm converges.
The invention can achieve the effect of accurately injecting the control component of the harmonic frequency by providing the balance dynamic force harmonic suppression method, and avoids the harmonic distortion of the output waveform by adjusting the weight coefficient of the control component in real time through the self-adaptive algorithm. Meanwhile, in the process of suppressing the harmonic wave of the astronomical dynamic force, the method has few adjustable parameters, is convenient to realize, has strong universality for different vibration table systems, and is convenient to popularize and use. In addition, the invention adopts an adaptive algorithm based on output waveform tracking error driving to carry out harmonic suppression, can compensate the time-varying characteristic of the system to a certain extent, and can quickly and adaptively suppress the influence of time variation when the system characteristic generates sudden change or slow time variation within a certain range.
Example 2: a device for suppressing harmonic waves of a dynamic force of a skyhook is installed on a vibration table and comprises a balance 1 to be calibrated, a balance fixing frame 5 to be calibrated, a balance floating frame 4 to be calibrated, a horizontal sliding table 6, a counterweight mass block 2, standard acceleration sensors 3 and harmonic suppression units, wherein the number of the standard acceleration sensors 3 is at least 1. The balance fixing frame 5 to be calibrated is rigidly connected with the top surface of the horizontal sliding table 6. The top surface of the floating frame 4 of the balance to be calibrated is rigidly connected with the bottom surface of the counterweight mass block 2.
The standard acceleration sensor 3 is installed in two sides of the counterweight mass block 2, the standard acceleration sensor 3 is in threaded connection with the side of the counterweight mass block 2, and the installation direction of the standard acceleration sensor 3 is consistent with the movement direction of the horizontal sliding table 6.
The harmonic suppression unit is arranged in the device main body and is used for performing harmonic suppression according to the acceleration signals collected by the standard acceleration sensor 3.
Wherein, standard acceleration sensor 3 symmetry installation and two sides of counter weight quality piece 2, and 5 standard acceleration sensors 3 are installed respectively to two sides of counter weight quality piece 2, and 5 standard acceleration sensors 3 of the same side of counter weight quality piece 2 are located the side center of counter weight quality piece 2 and counter weight quality piece 2 four corners respectively.
The standard acceleration sensor 3 is used for acquiring acceleration signals and sending the acquired acceleration signals to the harmonic suppression unit. The harmonic suppression unit is used for performing harmonic suppression according to the acceleration signal sent by the standard acceleration sensor 3.
The invention discloses a method and a device for suppressing the harmonic wave of a balance dynamic force, which have the following advantages:
(1) the method can accurately inject the control component of the harmonic frequency, and can adjust the weight coefficient of the control component in real time through the self-adaptive algorithm, thereby avoiding the harmonic distortion problem of the output waveform.
(2) In the process of suppressing the harmonic wave of the astronomical dynamic force by adopting the method, the adjustable parameters are few, the realization is convenient, and the method has strong universality for different vibration table systems.
(3) The invention adopts the self-adaptive algorithm based on the output waveform tracking error drive to carry out harmonic suppression, can compensate the time-varying characteristic of the system to a certain extent, and can quickly and self-adaptively suppress the influence of time variation when the system characteristic generates sudden change or slow time variation within a certain range.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.

Claims (9)

1. A method and a device for suppressing the harmonic wave of a astronomical dynamic force are characterized in that: the method specifically comprises the following steps:
s1, acquiring an acceleration signal of the vibrating table by adopting a standard acceleration sensor, and sending the acquired acceleration signal to a harmonic suppression unit;
s2, the harmonic suppression unit receives the acceleration signal, and the harmonic suppression unit removes harmonic according to the acceleration signal to generate a control voltage signal;
the specific method for harmonic removal by the harmonic suppression unit according to the acceleration signal is as follows:
1) presetting an expected output waveform of a vibration table;
2) and adjusting the actual output waveform of the vibrating table to be consistent with the expected waveform based on the acceleration signal of the vibrating table actually acquired by the standard acceleration sensor to form a control voltage signal.
2. The method and the device for suppressing the harmonic waves of the astronomical dynamic force as claimed in claim 1, wherein: the method for adjusting the actual output waveform of the vibration table to be consistent with the expected waveform in the step S2 comprises the following steps:
A. identifying system characteristics of a vibration table system under a specified frequency and a harmonic frequency thereof;
B. updating the system parameters of the vibration table of each sampling point in real time, and performing normalization self-adaptation;
C. and carrying out error tracking on the waveform actually output by the vibration table relative to the expected waveform, updating the weight coefficient of each order of harmonic frequency component, and adjusting the actual output waveform of the vibration table.
3. The method and the device for suppressing the harmonic waves of the astronomical dynamic force as claimed in claim 1, wherein: the acceleration signal is a periodic waveform.
4. The method and the device for suppressing the harmonic waves of the astronomical dynamic force as claimed in claim 2, wherein: in the step A, the expression for identifying the system characteristics of the vibration table system under the specified frequency and the harmonic frequency thereof is as follows:
Figure FDA0002783808320000021
wherein k represents a discrete sequence of samples; f represents a predetermined frequency;
Figure FDA0002783808320000022
and
Figure FDA0002783808320000023
a vibration table system characteristic representing an i-th harmonic at a prescribed frequency f; (i ═ 1, 2, …, m), m denoting the number of harmonics to be suppressed;
xai(k)＝sin(2πfitk) A sinusoidal basis function representing the harmonic frequency of each order;
xbi(k)＝cos(2πfitk) Cosine basis function representing the frequency of each order of harmonic, where fi＝i*f1；
q0iAnd q is1iThe weight coefficients for each harmonic frequency component in the system parameter identification stage are respectively, and need to be constant values in advance.
5. The method and the device for suppressing the harmonic waves of the astronomical dynamic force as claimed in claim 2, wherein: the specific process of the normalized self-adaptation in the step B adopts the following formula:
Figure FDA0002783808320000024
Figure FDA0002783808320000025
Figure FDA0002783808320000026
Figure FDA0002783808320000027
Figure FDA0002783808320000028
wherein the content of the first and second substances,
Figure FDA0002783808320000029
an estimate representing an output signal of the vibration table;
y (k) represents the actual output signal of the vibration table;
e (k) represents the identification error, namely the difference between the actual output and the estimated value;
γirepresents a recognition step factor, the size of which determines the speed of convergence;
Figure FDA0002783808320000031
and
Figure FDA0002783808320000032
is composed of
Figure FDA0002783808320000033
And
Figure FDA0002783808320000034
the convergence value of (1).
6. The method and the device for suppressing the harmonic waves of the astronomical dynamic force as claimed in claim 2, wherein: and C, carrying out error tracking on the actual output waveform relative to the expected waveform, updating the weight coefficient of each order of harmonic frequency component, and adjusting the actual output waveform of the vibration table by adopting the following formula:
Figure FDA0002783808320000035
Figure FDA0002783808320000036
Figure FDA0002783808320000037
e(k)＝yd(k)-y(k)
wherein e (k) represents the tracking error of the actual output waveform relative to the desired waveform;
w0i(k) and w1i(k) Weight coefficients representing harmonic frequency components of each order of the waveform control stage;
μiis a control step factor, the size of which determines the speed at which the algorithm converges.
7. A device for suppressing harmonic waves of a translation dynamic force is arranged on a vibration table and is characterized in that: the device comprises balances to be calibrated, G, H, a horizontal sliding table, a counterweight mass block, standard acceleration sensors and a harmonic suppression unit, wherein the number of the standard acceleration sensors is at least 1; the G is rigidly connected with the top surface of the horizontal sliding table; the top surface of the H is rigidly connected with the bottom surface of the counterweight mass block;
the standard acceleration sensors are arranged on two side faces of the counterweight mass block, the standard acceleration sensors are in threaded connection with the side faces of the counterweight mass block, and the installation direction of the standard acceleration sensors is consistent with the movement direction of the horizontal sliding table;
and the harmonic suppression unit is used for performing harmonic suppression according to the acceleration signals acquired by the standard acceleration sensor.
8. The device for suppressing harmonic waves of dynamic forces of skynting according to claim 7, wherein: the standard acceleration sensor symmetry installation and two sides of counter weight quality piece, just 5 standard acceleration sensors are installed respectively to two sides of counter weight quality piece, 5 standard acceleration sensors of the same side of counter weight quality piece are located the side center and the counter weight quality piece four corners department of counter weight quality piece respectively.
9. The device for suppressing harmonic waves of dynamic forces of skynting according to claim 7, wherein: the standard acceleration sensor is used for acquiring acceleration signals and sending the acquired acceleration signals to the harmonic suppression unit; and the harmonic suppression unit is used for performing harmonic suppression according to the acceleration signal sent by the standard acceleration sensor.
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