CN112729736B - Double-station parallel-pushing synchronization real-time representation identification and protection method - Google Patents

Double-station parallel-pushing synchronization real-time representation identification and protection method Download PDF

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CN112729736B
CN112729736B CN202011504394.6A CN202011504394A CN112729736B CN 112729736 B CN112729736 B CN 112729736B CN 202011504394 A CN202011504394 A CN 202011504394A CN 112729736 B CN112729736 B CN 112729736B
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CN112729736A (en
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朱学旺
王宇飞
王珏
王东升
毛勇建
代明香
李明海
李思忠
刘青林
农绍宁
张志旭
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General Engineering Research Institute China Academy of Engineering Physics
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    • 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
    • G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
    • 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 relates to a real-time representation identification and protection method for the synchronization of double vibration tables, which comprises the steps of measuring a driving signal, dynamic displacement, response acceleration and power amplification current of a coil of the vibration table in real time to obtain a corresponding time history, and carrying out self-power spectral density analysis and calculation on the obtained time history; identifying a first-order natural frequency of the test system by using power spectral density by adopting a peak value picking method; performing cross power spectrum density analysis on the dynamic displacement, the response acceleration and the time history of the power amplifier current to obtain a corresponding phase spectrum; and establishing a multi-parameter comprehensive protection criterion with dynamic displacement as a priority parameter according to a processing result of the peak value picking method, and sending an instruction to the control end according to the multi-parameter comprehensive protection criterion. The method adopts real-time dynamic displacement, response acceleration and power amplifier current characteristics and identifies the synchronism of the double parallel pushing systems; performing synchronization identification on a frequency band lower than a first-order natural frequency; and a three-parameter comprehensive protection criterion taking dynamic displacement as priority is constructed.

Description

Double-station parallel-pushing synchronization real-time representation identification and protection method
Technical Field
The invention relates to the technical field of equipment vibration tests, in particular to a method for identifying and protecting real-time representation of synchronization of double parallel-pushing machines.
Background
In the technical field of equipment vibration environment tests, the adoption of an electric vibration table and push excitation is a novel vibration environment loading means, and the method is established on the basis of a multipoint excitation control method, such as an MIMO control method, an MISA control method and the like. In the engineering application process, the excitation of the two vibration tables may be asynchronous, so that the difficulty of test implementation can be caused, and in severe cases, the abnormal damage of the vibration table system and/or the test piece can be caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a method for identifying and protecting the real-time representation of the synchronization of two parallel-pushing devices, and solves the defects of the prior art.
The purpose of the invention is realized by the following technical scheme: a method for identifying and protecting the real-time representation of the synchronization of two parallel-pushing devices comprises the following steps:
measuring a driving signal, dynamic displacement, response acceleration and power amplifier current of a coil of the vibrating table of the double vibrating tables in real time to obtain corresponding time histories, and performing automatic power spectral density analysis calculation on the obtained time histories;
identifying a first-order natural frequency of the test system by using power spectral density by adopting a peak value picking method;
performing cross power spectrum density analysis on the dynamic displacement, the response acceleration and the time history of the power amplifier current to obtain a corresponding phase spectrum;
and establishing a multi-parameter comprehensive protection criterion taking dynamic displacement as a priority parameter according to the processing result of the peak picking method, and sending an instruction to a control end according to the multi-parameter comprehensive protection criterion.
The real-time measurement of the driving signal, the dynamic displacement, the response acceleration and the power amplifier current of the coil of the vibrating table of the double vibrating tables comprises the following steps:
the actual measurement of the dynamic displacement discrete time courses of the main vibration directions of the two far ends of the sliding table connected with the two vibration tables are respectively d 1 (T k )、d 2 (T k ) (ii) a The discrete time histories of the output currents of the two vibrating table power amplification systems are i respectively 1 (T k )、i 2 (T k ) (ii) a The discrete time history of the response acceleration of the main vibration direction of the sliding table connected with the two vibration tables is a 1 (T k )、a 2 (T k ) (ii) a Discrete time courses of driving signals of the two vibration tables are dr 1 (T k )、dr 2 (T k )。
The automatic power spectral density analysis computation of the acquired time histories comprises:
according to the dynamic displacement discrete time course d 1 (T k )、d 2 (T k ) Number of samples N and sampling interval T s To obtain D 1(k) And D 2(k) And calculating the corresponding complex conjugate D 1(k) * And D 2(k) * ；
According to the number N of sampling points and the sampling interval T s 、D 1(k) 、D 2(k) 、D 1(k) * And D 2(k) * Obtaining corresponding dynamic displacement self-power spectral density
Figure BDA0002844536480000021
And
Figure BDA0002844536480000022
according to the number N of the samples and the sampling interval T s 、
Figure BDA0002844536480000023
And
Figure BDA0002844536480000024
obtaining dynamic displacement cross-power spectral density
Figure BDA0002844536480000025
Discrete time history d of dynamic displacement 1 (T k ) And d 2 (T k ) Output current discrete time history i of power amplification system of two vibration tables is replaced in sequence 1 (T k ) And i 2 (T k ) The response acceleration of the main vibration direction of the sliding table connected with the two vibration tables is awayTime dispersion course a 1 (T k ) And a 2 (T k ) Discrete time history dr of drive signals of two vibration tables 1 (T k ) And dr 2 (T k ) Repeating the above steps to obtain the power amplifier current self-power spectral density of
Figure BDA0002844536480000026
Cross power spectral density of
Figure BDA0002844536480000027
Response acceleration self-power spectral density is respectively
Figure BDA0002844536480000028
Cross power spectral density of
Figure BDA0002844536480000029
The self-power spectral density of the driving signal is respectively
Figure BDA00028445364800000210
Cross power spectral density of
Figure BDA00028445364800000211
The method for identifying the first-order natural frequency of the test system by using the power spectral density by adopting the peak picking method comprises the following steps:
setting the first-order natural frequency of the identification test system to
Figure BDA00028445364800000212
Wherein
Figure BDA00028445364800000213
According to the dynamic displacement cross-power spectral density
Figure BDA00028445364800000214
Satisfying a condition according to identification
Figure BDA00028445364800000215
And
Figure BDA00028445364800000216
identifying dynamic displacement phase spectrum omega d (f k )；
According to the power amplifier current cross power spectral density
Figure BDA00028445364800000217
Satisfying a condition according to identification
Figure BDA00028445364800000218
And
Figure BDA00028445364800000219
identifying power amplifier current phase spectrum omega i (f k )；
According to the response acceleration cross-power spectral density
Figure BDA00028445364800000220
Satisfying a condition according to identification
Figure BDA00028445364800000221
And
Figure BDA00028445364800000222
identifying response acceleration phase spectrum omega a (f k )。
The establishing of the multi-parameter comprehensive protection criterion taking dynamic displacement as a priority parameter according to the processing result of the peak picking method and the sending of the instruction to the control end according to the multi-parameter comprehensive protection criterion comprise: when f is k ＜f 0 And if not, measuring the driving signal, the dynamic displacement, the response acceleration and the power amplifier current of the coil of the vibration table again.
The step of comparing the displacement synchronicity comprises the following steps:
when ω is d (f k ) When the angle is more than 20 degrees, a shutdown protection signal is sent to the control end, and the two parallel-pushing vibration systems drive the signalThe number is closed, and the power amplification system is disabled;
when ω is d (f k ) And when the angle is less than 20 degrees, switching to a step of comparing the current synchronism.
The current synchronization comparing step includes:
when omega i (f k ) When the temperature is higher than 30 ℃, a shutdown protection signal is sent to the control end, the driving signals of the two parallel-pushing vibration systems are closed, and the power amplification system is disabled;
when ω is d (f k ) And when the angle is less than 30 degrees, the step of comparing the acceleration synchronism is carried out.
The acceleration synchronization comparing step includes:
when ω is a (f k ) When the temperature is higher than 40 ℃, a shutdown protection signal is sent to the control end, the driving signals of the two parallel-pushing vibration systems are closed, and the power amplification system is disabled;
when ω is d (f k ) And when the temperature is less than 40 ℃, measuring the driving signal, the dynamic displacement, the response acceleration and the power amplification current of the coil of the vibration table again.
The invention has the following advantages: a method for identifying and protecting the synchronization of the double parallel-pushing systems in real time is characterized in that the synchronization of the double parallel-pushing systems is represented and identified according to real-time dynamic displacement, response acceleration and power amplifier current, and a three-parameter comprehensive protection criterion taking the dynamic displacement as priority is established.
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FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the detailed description of the embodiments of the present application provided below in connection with the appended drawings is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application. The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the invention relates to a method for identifying and protecting the synchronicity of the parallel pushing of two stations in real time, which comprehensively considers the synchronicity identification and identification methods of displacement, acceleration and current, identifies the synchronicity between the excitation sources of the parallel pushing system of two stations in real time, constructs a protection criterion, and realizes the safety protection of the parallel pushing system of two stations; the method specifically comprises the following steps:
s1, actually measuring two dynamic displacements, which are respectively located at two ends of the sliding table, wherein the two ends are both connected with a vibration table, and the discrete time histories of the two dynamic displacements are d 1 (T k )、d 2 (T k ) (ii) a The discrete time courses of the output currents of the two vibrating table power amplification systems are respectively i 1 (T k )、i 2 (T k ) (ii) a The discrete time history of the response acceleration of the main vibration direction of the sliding table connected with the two vibration tables is a 1 (T k )、a 2 (T k ) (ii) a Discrete time courses of driving signals of the two vibration tables are dr 1 (T k )、dr 2 (T k ) (ii) a Wherein k =0,1, … N-1,N is the number of sampling points;
s2, calculating the self-power spectrum density and cross-power spectrum density of the actually measured parameters in the step S1 to obtain dynamic displacement self-spectrums respectively
Figure BDA0002844536480000041
Has a cross spectrum of
Figure BDA0002844536480000042
The power amplifier current is self-spectrum
Figure BDA0002844536480000043
Has a cross spectrum of
Figure BDA0002844536480000044
Response acceleration self-spectrum is respectively
Figure BDA0002844536480000045
Has a cross spectrum of
Figure BDA0002844536480000046
The driving signals are self-spectrum respectively
Figure BDA0002844536480000047
Figure BDA0002844536480000048
Has a cross spectrum of
Figure BDA0002844536480000049
Wherein the dynamic shift is self-spectral
Figure BDA00028445364800000410
Comprises the following steps:
Figure BDA00028445364800000411
wherein k =0,1, … N-1,N is the number of sampling points, T s For a sampling interval, dynamically shifting d 1 (T k ) Fourier transform of (D) 1(k) Comprises the following steps:
Figure BDA00028445364800000412
conjugated complex number D 1(k) * Comprises the following steps:
Figure BDA00028445364800000413
dynamic shift self-spectroscopy
Figure BDA00028445364800000414
Comprises the following steps:
Figure BDA00028445364800000415
dynamic displacement d 2 (T k ) Fourier transform D of 2(k) Comprises the following steps:
Figure BDA00028445364800000416
conjugated complex number D 2(k) * Comprises the following steps:
Figure BDA0002844536480000051
according to the formula
Figure BDA0002844536480000052
And
Figure BDA00028445364800000513
then a dynamic displacement cross spectrum can be obtained
Figure BDA0002844536480000053
Comprises the following steps:
Figure BDA0002844536480000054
power amplifier current self-spectrum
Figure BDA0002844536480000055
Comprises the following steps:
Figure BDA0002844536480000056
power amplifier current i 1 (T k ) Fourier transform of (1) 1(k) Comprises the following steps:
Figure BDA0002844536480000057
conjugated complex number I 1(k) * Comprises the following steps:
Figure BDA0002844536480000058
power amplifier current self-spectrum
Figure BDA0002844536480000059
Comprises the following steps:
Figure BDA00028445364800000510
power amplifier current i 2 (T k ) Fourier transform of (I) 2(k) Comprises the following steps:
Figure BDA00028445364800000511
conjugated complex number I 2(k) * Comprises the following steps:
Figure BDA00028445364800000512
according to the formula
Figure BDA0002844536480000061
And
Figure BDA0002844536480000062
obtaining power amplifier current cross spectrum
Figure BDA0002844536480000063
Comprises the following steps:
Figure BDA0002844536480000064
response acceleration self-spectrum
Figure BDA0002844536480000065
Comprises the following steps:
Figure BDA0002844536480000066
in response to acceleration a 1 (T k ) Fourier transform A of 1(k) Comprises the following steps:
Figure BDA0002844536480000067
conjugated complex number A 1(k) * Comprises the following steps:
Figure BDA0002844536480000068
response acceleration self-spectrum
Figure BDA0002844536480000069
Comprises the following steps:
Figure BDA00028445364800000610
in response to acceleration a 2 (T k ) Fourier transform A of 2(k) Comprises the following steps:
Figure BDA00028445364800000611
conjugated complex number A 2(k) * Comprises the following steps:
Figure BDA00028445364800000612
according to the formula
Figure BDA00028445364800000613
And
Figure BDA00028445364800000614
obtaining a response acceleration cross-spectrum
Figure BDA00028445364800000615
Comprises the following steps:
Figure BDA00028445364800000616
self-spectrum of drive signal
Figure BDA00028445364800000617
Comprises the following steps:
Figure BDA0002844536480000071
drive signal dr 1 (T k ) Is subjected to a Fourier transformation DR 1(k) Comprises the following steps:
Figure BDA0002844536480000072
conjugate complex number DR 1(k) * Comprises the following steps:
Figure BDA0002844536480000073
dynamic shift self-spectrum
Figure BDA0002844536480000074
Comprises the following steps:
Figure BDA0002844536480000075
drive signal dr 2 (T k ) Is subjected to a Fourier transformation DR 2(k) Comprises the following steps:
Figure BDA0002844536480000076
conjugate complex number DR 2(k) * Comprises the following steps:
Figure BDA0002844536480000077
combination formula
Figure BDA0002844536480000078
And
Figure BDA0002844536480000079
drive signal cross spectrum
Figure BDA00028445364800000710
Comprises the following steps:
Figure BDA00028445364800000711
s3, identifying the first-order natural frequency f of the system 0 Comprises the following steps:
Figure BDA00028445364800000712
wherein,
Figure BDA00028445364800000713
s4, dynamic displacement cross power spectral density
Figure BDA0002844536480000081
Satisfying a condition according to identification
Figure BDA0002844536480000082
And
Figure BDA0002844536480000083
identifying dynamic displacement phase spectrum omega d (f k )；
Power amplifier current cross power spectral density
Figure BDA0002844536480000084
Satisfying a condition according to the identification
Figure BDA0002844536480000085
And
Figure BDA0002844536480000086
identifying power amplifier current phase spectrum omega i (f k )；
Response acceleration cross-power spectral density
Figure BDA0002844536480000087
Satisfying a condition according to identification
Figure BDA0002844536480000088
And
Figure BDA0002844536480000089
identifying response acceleration phase spectrum omega a (f k )。
S5, when f k ＜f 0 Then, carrying out displacement synchronism comparison;
specifically, when ω is d (f k ) When the temperature is higher than 20 degrees, a shutdown protection signal ST is sent to the control unit, the two parallel-pushing vibration systems drive signals to be closed, and the power amplification system is disabled;
when ω is d (f k ) If the angle is less than 20 degrees, the step S6 is carried out to carry out current synchronism comparison;
s6, comparing current synchronism;
specifically, when ω is i (f k ) When the temperature is higher than 30 ℃, a shutdown protection signal ST is sent to the control unit, the two parallel vibration systems drive signals to be closed, and the power amplification system is disabled;
when ω is d (f k ) If the angle is less than 30 degrees, the step S7 is carried out to compare the acceleration synchronism;
s7, comparing the acceleration synchronism;
specifically, when ω is a (f k ) When the temperature is higher than 40 ℃, a shutdown protection signal ST is sent to the control unit, the two parallel vibration systems drive signals to be closed, and the power amplification system is disabled;
when ω is d (f k ) If < 40 deg., return to step S1.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (4)

1. A method for identifying and protecting the real-time representation of the synchronization of two parallel-pushing devices is characterized in that: the method comprises the following steps:
measuring a driving signal, dynamic displacement and response acceleration of the double vibration tables and power amplifier current of a coil of the vibration table in real time to obtain corresponding time history, and carrying out self-power spectral density analysis and calculation on the obtained time history; the method comprises the following steps:
the dynamic displacement of the main vibration direction of two far ends of the sliding table connected with the two vibrating tables is actually measured, and the discrete time history is respectively marked as d 1 (T k )、d 2 (T k ) (ii) a The discrete time histories of the output currents of the two vibrating table power amplification systems are i respectively 1 (T k )、i 2 (T k ) (ii) a The discrete time history of the response acceleration of the main vibration direction of the sliding table connected with the two vibration tables is a 1 (T k )、a 2 (T k ) (ii) a The discrete time histories of the driving signals of the two vibration tables are dr 1 (T k )、dr 2 (T k ) Wherein k =0,1, … N-1,N is the number of sampling points;
according to the dynamic displacement discrete time course d 1 (T k )、d 2 (T k ) Number of samples N and sampling interval T s To obtain D 1(k) And D 2(k) And calculating the corresponding complex conjugate D 1(k) * And D 2(k) * ；
According to the number N of sampling points and the sampling interval T s 、D 1(k) 、D 2(k) 、D 1(k) * And D 2(k) * Obtaining corresponding dynamic displacement self-power spectrum density G d1 (f k ) And G d2 (f k ) In which D is 1(k) 、D 2(k) Respectively representing dynamic displacement discrete time history d 1 (T k ) And d 2 (T k ) Form after Fourier transform, D 1(k) * And D 2(k) * Represents D 1(k) And D 2(k) In the form of conjugated complex numbers of (c);
according to the number N of sampling points and the sampling interval T s 、D 1(k) * And D 2(k) * Obtaining the dynamic displacement cross-power spectral density G d1d2 (f k )；
Discrete time history d of dynamic displacement 1 (T k ) And d 2 (T k ) Output current discrete time history i of power amplification system of two vibration tables is replaced in sequence 1 (T k ) And i 2 (T k ) And a discrete time course a of response acceleration of the main vibration direction of the sliding table connected with the two vibration tables 1 (T k ) And a 2 (T k ) Discrete time history dr of drive signals of two vibration tables 1 (T k ) And dr 2 (T k ) Repeating the above steps to obtain the power amplifier current self-power spectral density of
Figure FDA0003739620020000011
Cross power spectral density of
Figure FDA0003739620020000012
Response acceleration self-power spectral density of
Figure FDA0003739620020000013
Cross power spectral density of
Figure FDA0003739620020000014
The self-power spectral density of the driving signal is respectively
Figure FDA0003739620020000015
Cross power spectral density of
Figure FDA0003739620020000016
Identifying a first-order natural frequency of the test system by using power spectral density by adopting a peak value picking method; the method specifically comprises the following steps:
setting the first-order natural frequency of the identification test system to
Figure FDA0003739620020000017
Wherein
Figure FDA0003739620020000018
According to the dynamic displacement cross-power spectral density
Figure FDA0003739620020000019
Satisfying a condition according to identification
Figure FDA00037396200200000110
And
Figure FDA00037396200200000111
identifying dynamic displacement phase spectrum omega d (f k )；
According to the power amplifier current cross power spectral density
Figure FDA00037396200200000112
Satisfying a condition according to identification
Figure FDA00037396200200000113
And
Figure FDA0003739620020000021
identifying power amplifier current phase spectrum omega i (f k )；
According to the response acceleration cross-power spectral density
Figure FDA0003739620020000022
Satisfying a condition according to the identification
Figure FDA0003739620020000023
And
Figure FDA0003739620020000024
identifying response acceleration phase spectrum omega a (f k )；
Performing cross power spectrum density analysis on the dynamic displacement, the response acceleration and the time history of the power amplifier current to obtain a corresponding phase spectrum;
establishing a multi-parameter comprehensive protection criterion with dynamic displacement as a priority parameter according to a processing result of the peak picking method, and sending an instruction to a control end according to the multi-parameter comprehensive protection criterion;
the establishing of a multi-parameter comprehensive protection criterion with dynamic displacement as a priority parameter according to the processing result of the peak picking method and the sending of an instruction to a control end according to the multi-parameter comprehensive protection criterion comprise: when f is k ＜f 0 And if not, measuring the driving signal, the dynamic displacement, the response acceleration and the power amplifier current of the coil of the vibration table again.
2. The method of claim 1, wherein the method comprises the steps of: the step of comparing the displacement synchronicity comprises the following steps:
when omega d (f k ) When the temperature is higher than 20 degrees, a shutdown protection signal is sent to the control end, the driving signals of the two parallel-pushing vibration systems are closed, and the power amplification system is disabled;
when ω is d (f k ) And when the angle is less than 20 degrees, switching to a step of comparing the current synchronism.
3. The method of claim 2, wherein the method comprises the steps of: the current synchronization comparing step includes:
when ω is i (f k ) When the temperature is higher than 30 ℃, a shutdown protection signal is sent to the control end, the driving signals of the two parallel-pushing vibration systems are closed, and the power amplification system is disabled;
when omega d (f k ) And when the angle is less than 30 degrees, the step of comparing the acceleration synchronism is carried out.
4. The method of claim 2, wherein the method comprises the steps of: the acceleration synchronization comparing step includes:
when omega a (f k ) When the temperature is higher than 40 ℃, a shutdown protection signal is sent to the control end, the driving signals of the two parallel-pushing vibration systems are closed, and the power amplification system is disabled;
when omega d (f k ) And when the temperature is less than 40 ℃, measuring the driving signal, the dynamic displacement, the response acceleration and the power amplification current of the coil of the vibration table again.
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